diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_16-23-1_1450956042/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_16-23-1_1450956042/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a1033b5b53a44f0477d73c58c4778643ca8a68de --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_16-23-1_1450956042/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1604.5720914170643, + 1005.8110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1607.1701676284176, + 1004.3110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1609.768243839771, + 1002.8110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1612.3663200511244, + 1001.3110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1614.9643962624777, + 999.8110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1617.5624724738311, + 998.3110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1620.1605486851845, + 996.8110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1622.7586248965379, + 995.3110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1625.3567011078912, + 993.8110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1627.9547773192446, + 992.3110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1630.552853530598, + 990.8110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1633.1509297419514, + 989.3110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1635.7490059533047, + 987.8110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1638.347082164658, + 986.3110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1640.9451583760115, + 984.8110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1643.5432345873649, + 983.3110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1646.1413107987182, + 981.8110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1648.7393870100716, + 980.3110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1651.337463221425, + 978.8110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1653.9355394327783, + 977.3110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1656.5336156441317, + 975.8110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1659.131691855485, + 974.3110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1661.7297680668385, + 972.8110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1664.3278442781918, + 971.3110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1666.9259204895452, + 969.8110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1669.5239967008986, + 968.3110237211926, + 50.97353200864521 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1669.5239967008986, + 968.3110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1672.5239967008986, + 968.3110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1675.5239967008986, + 968.3110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1678.5239967008986, + 968.3110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1681.5239967008986, + 968.3110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1684.5239967008986, + 968.3110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1687.5239967008986, + 968.3110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1690.5239967008986, + 968.3110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1693.5239967008986, + 968.3110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1696.5239967008986, + 968.3110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1699.5239967008986, + 968.3110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1702.5239967008986, + 968.3110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1705.5239967008986, + 968.3110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1708.5239967008986, + 968.3110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1711.5239967008986, + 968.3110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1714.5239967008986, + 968.3110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1717.5239967008986, + 968.3110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1720.5239967008986, + 968.3110237211926, + 50.97353200864521 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1723.5239967008986, + 968.3110237211926, + 50.97353200864521 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1764.0, + 956.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_16-3-15_1473144500/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_16-3-15_1473144500/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a3ab8fb475fb4f7e445660ac76a58df92f0d59ee --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_16-3-15_1473144500/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 117.78517630625731, + -484.3052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 120.78517630625731, + -484.3052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 123.78517630625731, + -484.3052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 126.78517630625731, + -484.3052656898741, + 67.20627034312285 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 126.78517630625731, + -484.3052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 129.38325251761063, + -485.8052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 131.98132872896394, + -487.3052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 134.57940494031726, + -488.8052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 137.17748115167058, + -490.3052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 139.7755573630239, + -491.8052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 142.3736335743772, + -493.3052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 144.97170978573052, + -494.8052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 147.56978599708384, + -496.3052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 150.16786220843716, + -497.8052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 152.76593841979047, + -499.3052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 155.3640146311438, + -500.8052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 157.9620908424971, + -502.3052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 160.56016705385042, + -503.8052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 163.15824326520374, + -505.3052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 165.75631947655705, + -506.8052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 168.35439568791037, + -508.3052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 170.95247189926368, + -509.8052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 173.550548110617, + -511.3052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 176.14862432197032, + -512.8052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 178.74670053332363, + -514.3052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 181.34477674467695, + -515.8052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 183.94285295603026, + -517.3052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 186.54092916738358, + -518.8052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 189.1390053787369, + -520.3052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 191.7370815900902, + -521.8052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 194.33515780144353, + -523.3052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 196.93323401279685, + -524.8052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 199.53131022415016, + -526.3052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 202.12938643550348, + -527.8052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 204.7274626468568, + -529.3052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 207.3255388582101, + -530.8052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 209.92361506956343, + -532.3052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 212.52169128091674, + -533.8052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 215.11976749227006, + -535.3052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 217.71784370362337, + -536.8052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 220.3159199149767, + -538.3052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 222.91399612633, + -539.8052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 225.51207233768332, + -541.3052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 228.11014854903664, + -542.8052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 230.70822476038995, + -544.3052656898741, + 67.20627034312285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 233.30630097174327, + -545.8052656898741, + 67.20627034312285 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 252.0, + -556.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_17-11-44_712633417/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_17-11-44_712633417/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2be5530992d88ea52dc7e0fa1bf3180cb895c0c2 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_17-11-44_712633417/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1318.9655295544485, + 659.0546159914652, + 46.45272403410301 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1318.9655295544485, + 662.0546159914652, + 46.45272403410301 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1318.9655295544485, + 665.0546159914652, + 46.45272403410301 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1318.9655295544485, + 668.0546159914652, + 46.45272403410301 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1318.9655295544485, + 671.0546159914652, + 46.45272403410301 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1318.9655295544485, + 674.0546159914652, + 46.45272403410301 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1318.9655295544485, + 677.0546159914652, + 46.45272403410301 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1318.9655295544485, + 680.0546159914652, + 46.45272403410301 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1318.9655295544485, + 683.0546159914652, + 46.45272403410301 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1320.0, + 812.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_17-14-10_1026413173/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_17-14-10_1026413173/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7c5ff5127b5fcb0666838d9f9182d59a91559ac6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_17-14-10_1026413173/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 522.341154520539, + -717.1442236475812, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 523.841154520539, + -719.7422998589345, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 525.341154520539, + -722.3403760702879, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 526.841154520539, + -724.9384522816413, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 528.341154520539, + -727.5365284929946, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 529.841154520539, + -730.134604704348, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 531.341154520539, + -732.7326809157014, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 532.841154520539, + -735.3307571270548, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 534.341154520539, + -737.9288333384081, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 535.841154520539, + -740.5269095497615, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 537.341154520539, + -743.1249857611149, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 538.841154520539, + -745.7230619724683, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 540.341154520539, + -748.3211381838216, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 541.841154520539, + -750.919214395175, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 543.341154520539, + -753.5172906065284, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 544.841154520539, + -756.1153668178817, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 546.341154520539, + -758.7134430292351, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 547.841154520539, + -761.3115192405885, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 549.341154520539, + -763.9095954519419, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 550.841154520539, + -766.5076716632952, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 552.341154520539, + -769.1057478746486, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 553.841154520539, + -771.703824086002, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 555.341154520539, + -774.3019002973554, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 556.841154520539, + -776.8999765087087, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 558.341154520539, + -779.4980527200621, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 559.841154520539, + -782.0961289314155, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 561.341154520539, + -784.6942051427689, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 562.841154520539, + -787.2922813541222, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 564.341154520539, + -789.8903575654756, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 565.841154520539, + -792.488433776829, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 567.341154520539, + -795.0865099881823, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 568.841154520539, + -797.6845861995357, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 570.341154520539, + -800.2826624108891, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 571.841154520539, + -802.8807386222425, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 573.341154520539, + -805.4788148335958, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 574.841154520539, + -808.0768910449492, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 576.341154520539, + -810.6749672563026, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 577.841154520539, + -813.273043467656, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 579.341154520539, + -815.8711196790093, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 580.841154520539, + -818.4691958903627, + 55.25494697747581 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 580.841154520539, + -818.4691958903627, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 580.841154520539, + -821.4691958903627, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 580.841154520539, + -824.4691958903627, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 580.841154520539, + -827.4691958903627, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 580.841154520539, + -830.4691958903627, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 580.841154520539, + -833.4691958903627, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 580.841154520539, + -836.4691958903627, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 580.841154520539, + -839.4691958903627, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 580.841154520539, + -842.4691958903627, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 580.841154520539, + -845.4691958903627, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 580.841154520539, + -848.4691958903627, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 580.841154520539, + -851.4691958903627, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 580.841154520539, + -854.4691958903627, + 55.25494697747581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 580.841154520539, + -857.4691958903627, + 55.25494697747581 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 592.0, + -880.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_17-49-13_1215828993/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_17-49-13_1215828993/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..083de7d6dd8d04b880885cb5abd85e521434614e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_17-49-13_1215828993/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1785.5449619147528, + 205.52803564977245, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1782.9468857033994, + 207.02803564977245, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1780.348809492046, + 208.52803564977245, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1777.7507332806927, + 210.02803564977245, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1775.1526570693393, + 211.52803564977245, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1772.554580857986, + 213.02803564977245, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1769.9565046466325, + 214.52803564977245, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1767.3584284352792, + 216.02803564977245, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1764.7603522239258, + 217.52803564977245, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1762.1622760125724, + 219.02803564977245, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1759.564199801219, + 220.52803564977245, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1756.9661235898657, + 222.02803564977245, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1754.3680473785123, + 223.52803564977245, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1751.769971167159, + 225.02803564977245, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1749.1718949558056, + 226.52803564977245, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1746.5738187444522, + 228.02803564977245, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1743.9757425330988, + 229.52803564977245, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1741.3776663217454, + 231.02803564977245, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1738.779590110392, + 232.52803564977245, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1736.1815138990387, + 234.02803564977245, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1733.5834376876853, + 235.52803564977245, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1730.985361476332, + 237.02803564977245, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1728.3872852649786, + 238.52803564977245, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1725.7892090536252, + 240.02803564977245, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1723.1911328422718, + 241.52803564977245, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1720.5930566309185, + 243.02803564977245, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1717.994980419565, + 244.52803564977245, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1715.3969042082117, + 246.02803564977245, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1712.7988279968583, + 247.52803564977245, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1710.200751785505, + 249.02803564977245, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1707.6026755741516, + 250.52803564977245, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1705.0045993627982, + 252.02803564977245, + 66.9981891225483 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1705.0045993627982, + 252.02803564977245, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1703.5045993627982, + 254.62611186112576, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1702.0045993627982, + 257.2241880724791, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1700.5045993627982, + 259.8222642838324, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1699.0045993627982, + 262.4203404951857, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1697.5045993627982, + 265.01841670653903, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1696.0045993627982, + 267.61649291789234, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1694.5045993627982, + 270.21456912924566, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1693.0045993627982, + 272.812645340599, + 66.9981891225483 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1691.5045993627982, + 275.4107215519523, + 66.9981891225483 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1660.0, + 300.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-30-54_94307398/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-30-54_94307398/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9b6f8dc01e1c661f10d4ccd3cb51dc03c5227440 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-30-54_94307398/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1022.2421632372196, + 1621.4922322001191, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1020.7421632372196, + 1624.0903084114725, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1019.2421632372196, + 1626.6883846228259, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1017.7421632372196, + 1629.2864608341793, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1016.2421632372196, + 1631.8845370455326, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1014.7421632372196, + 1634.482613256886, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1013.2421632372196, + 1637.0806894682394, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1011.7421632372196, + 1639.6787656795927, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1010.2421632372196, + 1642.2768418909461, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1008.7421632372196, + 1644.8749181022995, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1007.2421632372196, + 1647.4729943136529, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1005.7421632372196, + 1650.0710705250062, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1004.2421632372196, + 1652.6691467363596, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1002.7421632372196, + 1655.267222947713, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1001.2421632372196, + 1657.8652991590664, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 999.7421632372196, + 1660.4633753704197, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 998.2421632372196, + 1663.061451581773, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 996.7421632372196, + 1665.6595277931265, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 995.2421632372196, + 1668.2576040044798, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 993.7421632372196, + 1670.8556802158332, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 992.2421632372196, + 1673.4537564271866, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 990.7421632372196, + 1676.05183263854, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 989.2421632372196, + 1678.6499088498933, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 987.7421632372196, + 1681.2479850612467, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 986.2421632372196, + 1683.8460612726, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 984.7421632372196, + 1686.4441374839535, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 983.2421632372196, + 1689.0422136953068, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 981.7421632372196, + 1691.6402899066602, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 980.2421632372196, + 1694.2383661180136, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 978.7421632372196, + 1696.836442329367, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 977.2421632372196, + 1699.4345185407203, + 44.44418931411672 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 977.2421632372196, + 1699.4345185407203, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 977.2421632372196, + 1702.4345185407203, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 977.2421632372196, + 1705.4345185407203, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 977.2421632372196, + 1708.4345185407203, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 977.2421632372196, + 1711.4345185407203, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 977.2421632372196, + 1714.4345185407203, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 977.2421632372196, + 1717.4345185407203, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 977.2421632372196, + 1720.4345185407203, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 977.2421632372196, + 1723.4345185407203, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 977.2421632372196, + 1726.4345185407203, + 44.44418931411672 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 977.2421632372196, + 1729.4345185407203, + 44.44418931411672 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 960.0, + 1772.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-31-43_10901063/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-31-43_10901063/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7d9c64453bd508a28cd00776a9a55434b022c815 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-31-43_10901063/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -918.2566291926425, + -220.09134708688816, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -919.7566291926425, + -222.68942329824148, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -921.2566291926425, + -225.2874995095948, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -922.7566291926425, + -227.8855757209481, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -924.2566291926425, + -230.48365193230143, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -925.7566291926425, + -233.08172814365474, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -927.2566291926425, + -235.67980435500806, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -928.7566291926425, + -238.27788056636138, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -930.2566291926425, + -240.8759567777147, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -931.7566291926425, + -243.474032989068, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -933.2566291926425, + -246.07210920042132, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -934.7566291926425, + -248.67018541177464, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -936.2566291926425, + -251.26826162312796, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -937.7566291926425, + -253.86633783448127, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -939.2566291926425, + -256.4644140458346, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -940.7566291926425, + -259.0624902571879, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -942.2566291926425, + -261.6605664685412, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -943.7566291926425, + -264.25864267989454, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -945.2566291926425, + -266.85671889124785, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -946.7566291926425, + -269.45479510260117, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -948.2566291926425, + -272.0528713139545, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -949.7566291926425, + -274.6509475253078, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -951.2566291926425, + -277.2490237366611, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -952.7566291926425, + -279.84709994801443, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -954.2566291926425, + -282.44517615936775, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -955.7566291926425, + -285.04325237072106, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -957.2566291926425, + -287.6413285820744, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -958.7566291926425, + -290.2394047934277, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -960.2566291926425, + -292.837481004781, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -961.7566291926425, + -295.4355572161343, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -963.2566291926425, + -298.03363342748764, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -964.7566291926425, + -300.63170963884096, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -966.2566291926425, + -303.2297858501943, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -967.7566291926425, + -305.8278620615476, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -969.2566291926425, + -308.4259382729009, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -970.7566291926425, + -311.0240144842542, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -972.2566291926425, + -313.62209069560754, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -973.7566291926425, + -316.22016690696086, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -975.2566291926425, + -318.8182431183142, + 50.397519203894376 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -975.2566291926425, + -318.8182431183142, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -977.8547054039959, + -320.3182431183142, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -980.4527816153493, + -321.8182431183142, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -983.0508578267027, + -323.3182431183142, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -985.648934038056, + -324.8182431183142, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -988.2470102494094, + -326.3182431183142, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -990.8450864607628, + -327.8182431183142, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -993.4431626721162, + -329.3182431183142, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -996.0412388834695, + -330.8182431183142, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -998.6393150948229, + -332.3182431183142, + 50.397519203894376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1001.2373913061763, + -333.8182431183142, + 50.397519203894376 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1020.0, + -360.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-37-51_525829204/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-37-51_525829204/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..00943ff7c17c3e02ecffad3ed7b063f336ce97c7 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-37-51_525829204/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -61.54306940274603, + 1637.3684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -64.54306940274603, + 1637.3684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -67.54306940274603, + 1637.3684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -70.54306940274603, + 1637.3684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -73.54306940274603, + 1637.3684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -76.54306940274603, + 1637.3684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -79.54306940274603, + 1637.3684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -82.54306940274603, + 1637.3684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -85.54306940274603, + 1637.3684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -88.54306940274603, + 1637.3684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -91.54306940274603, + 1637.3684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -94.54306940274603, + 1637.3684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -97.54306940274603, + 1637.3684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -100.54306940274603, + 1637.3684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -103.54306940274603, + 1637.3684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -106.54306940274603, + 1637.3684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -109.54306940274603, + 1637.3684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -112.54306940274603, + 1637.3684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -115.54306940274603, + 1637.3684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -118.54306940274603, + 1637.3684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -121.54306940274603, + 1637.3684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -124.54306940274603, + 1637.3684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -127.54306940274603, + 1637.3684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -130.54306940274603, + 1637.3684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -133.54306940274603, + 1637.3684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -136.54306940274603, + 1637.3684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -139.54306940274603, + 1637.3684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -142.54306940274603, + 1637.3684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -145.54306940274603, + 1637.3684469048346, + 46.20396800826218 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -145.54306940274603, + 1637.3684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -148.14114561409934, + 1638.8684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -150.73922182545266, + 1640.3684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -153.33729803680598, + 1641.8684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -155.9353742481593, + 1643.3684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -158.5334504595126, + 1644.8684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -161.13152667086592, + 1646.3684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -163.72960288221924, + 1647.8684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -166.32767909357256, + 1649.3684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -168.92575530492587, + 1650.8684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -171.5238315162792, + 1652.3684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -174.1219077276325, + 1653.8684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -176.71998393898582, + 1655.3684469048346, + 46.20396800826218 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -176.71998393898582, + 1655.3684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -179.71998393898582, + 1655.3684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -182.71998393898582, + 1655.3684469048346, + 46.20396800826218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -185.71998393898582, + 1655.3684469048346, + 46.20396800826218 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -224.0, + 1660.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-5-13_292423943/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-5-13_292423943/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..18fab2a038fef23630ded1ee631eb7bfdfabd962 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-5-13_292423943/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 520.788535041723, + -784.5456926467444, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 522.288535041723, + -781.9476164353912, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 523.788535041723, + -779.3495402240378, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 525.288535041723, + -776.7514640126844, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 526.788535041723, + -774.1533878013311, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 528.288535041723, + -771.5553115899777, + 55.87863951667212 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 528.288535041723, + -771.5553115899777, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 530.8866112530764, + -770.0553115899777, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 533.4846874644297, + -768.5553115899777, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 536.0827636757831, + -767.0553115899777, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 538.6808398871365, + -765.5553115899777, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 541.2789160984898, + -764.0553115899777, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 543.8769923098432, + -762.5553115899777, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 546.4750685211966, + -761.0553115899777, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 549.07314473255, + -759.5553115899777, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 551.6712209439033, + -758.0553115899777, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 554.2692971552567, + -756.5553115899777, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 556.8673733666101, + -755.0553115899777, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 559.4654495779635, + -753.5553115899777, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 562.0635257893168, + -752.0553115899777, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 564.6616020006702, + -750.5553115899777, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 567.2596782120236, + -749.0553115899777, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 569.857754423377, + -747.5553115899777, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 572.4558306347303, + -746.0553115899777, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 575.0539068460837, + -744.5553115899777, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 577.6519830574371, + -743.0553115899777, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 580.2500592687904, + -741.5553115899777, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 582.8481354801438, + -740.0553115899777, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 585.4462116914972, + -738.5553115899777, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 588.0442879028506, + -737.0553115899777, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 590.6423641142039, + -735.5553115899777, + 55.87863951667212 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 590.6423641142039, + -735.5553115899777, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 592.1423641142039, + -732.9572353786243, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 593.6423641142039, + -730.359159167271, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 595.1423641142039, + -727.7610829559176, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 596.6423641142039, + -725.1630067445642, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 598.1423641142039, + -722.5649305332108, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 599.6423641142039, + -719.9668543218575, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 601.1423641142039, + -717.3687781105041, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 602.6423641142039, + -714.7707018991507, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 604.1423641142039, + -712.1726256877973, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 605.6423641142039, + -709.574549476444, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 607.1423641142039, + -706.9764732650906, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 608.6423641142039, + -704.3783970537372, + 55.87863951667212 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 608.6423641142039, + -704.3783970537372, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 608.6423641142039, + -701.3783970537372, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 608.6423641142039, + -698.3783970537372, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 608.6423641142039, + -695.3783970537372, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 608.6423641142039, + -692.3783970537372, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 608.6423641142039, + -689.3783970537372, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 608.6423641142039, + -686.3783970537372, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 608.6423641142039, + -683.3783970537372, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 608.6423641142039, + -680.3783970537372, + 55.87863951667212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 608.6423641142039, + -677.3783970537372, + 55.87863951667212 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 628.0, + -652.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_19-3-45_82173109/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_19-3-45_82173109/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..69d4f267f99dedbcc749a16640fe69891f27e1aa --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_19-3-45_82173109/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 930.4681575764929, + -1669.3800352851038, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 933.0662337878462, + -1670.8800352851038, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 935.6643099991995, + -1672.3800352851038, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 938.2623862105529, + -1673.8800352851038, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 940.8604624219063, + -1675.3800352851038, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 943.4585386332596, + -1676.8800352851038, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 946.056614844613, + -1678.3800352851038, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 948.6546910559664, + -1679.8800352851038, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 951.2527672673198, + -1681.3800352851038, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 953.8508434786731, + -1682.8800352851038, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 956.4489196900265, + -1684.3800352851038, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 959.0469959013799, + -1685.8800352851038, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 961.6450721127333, + -1687.3800352851038, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 964.2431483240866, + -1688.8800352851038, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 966.84122453544, + -1690.3800352851038, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 969.4393007467934, + -1691.8800352851038, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 972.0373769581468, + -1693.3800352851038, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 974.6354531695001, + -1694.8800352851038, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 977.2335293808535, + -1696.3800352851038, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 979.8316055922069, + -1697.8800352851038, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 982.4296818035602, + -1699.3800352851038, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 985.0277580149136, + -1700.8800352851038, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 987.625834226267, + -1702.3800352851038, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 990.2239104376204, + -1703.8800352851038, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 992.8219866489737, + -1705.3800352851038, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 995.4200628603271, + -1706.8800352851038, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 998.0181390716805, + -1708.3800352851038, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1000.6162152830339, + -1709.8800352851038, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1003.2142914943872, + -1711.3800352851038, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1005.8123677057406, + -1712.8800352851038, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1008.410443917094, + -1714.3800352851038, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1011.0085201284473, + -1715.8800352851038, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1013.6065963398007, + -1717.3800352851038, + 48.15075644292208 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1013.6065963398007, + -1717.3800352851038, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1015.1065963398007, + -1719.9781114964571, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1016.6065963398007, + -1722.5761877078105, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1018.1065963398007, + -1725.1742639191639, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1019.6065963398007, + -1727.7723401305173, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1021.1065963398007, + -1730.3704163418706, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1022.6065963398007, + -1732.968492553224, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1024.1065963398007, + -1735.5665687645774, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1025.6065963398007, + -1738.1646449759307, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1027.1065963398007, + -1740.7627211872841, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1028.6065963398007, + -1743.3607973986375, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1030.1065963398007, + -1745.9588736099909, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1031.6065963398007, + -1748.5569498213442, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1033.1065963398007, + -1751.1550260326976, + 48.15075644292208 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1034.6065963398007, + -1753.753102244051, + 48.15075644292208 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1060.0, + -1772.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_19-47-32_164826621/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_19-47-32_164826621/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..511514b8cddb80b7af6ef33c4d6b95bb3fdecf8b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_19-47-32_164826621/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -843.9127536931394, + -1087.8873134475155, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -845.4127536931394, + -1085.289237236162, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -846.9127536931394, + -1082.6911610248087, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -848.4127536931394, + -1080.0930848134553, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -849.9127536931394, + -1077.495008602102, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -851.4127536931394, + -1074.8969323907486, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -852.9127536931394, + -1072.2988561793952, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -854.4127536931394, + -1069.7007799680418, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -855.9127536931394, + -1067.1027037566885, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -857.4127536931394, + -1064.504627545335, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -858.9127536931394, + -1061.9065513339817, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -860.4127536931394, + -1059.3084751226284, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -861.9127536931394, + -1056.710398911275, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -863.4127536931394, + -1054.1123226999216, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -864.9127536931394, + -1051.5142464885682, + 58.64831612580991 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -864.9127536931394, + -1051.5142464885682, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -867.5108299044928, + -1050.0142464885682, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -870.1089061158461, + -1048.5142464885682, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -872.7069823271995, + -1047.0142464885682, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -875.3050585385529, + -1045.5142464885682, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -877.9031347499063, + -1044.0142464885682, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -880.5012109612596, + -1042.5142464885682, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -883.099287172613, + -1041.0142464885682, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -885.6973633839664, + -1039.5142464885682, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -888.2954395953197, + -1038.0142464885682, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -890.8935158066731, + -1036.5142464885682, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -893.4915920180265, + -1035.0142464885682, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -896.0896682293799, + -1033.5142464885682, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -898.6877444407332, + -1032.0142464885682, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -901.2858206520866, + -1030.5142464885682, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -903.88389686344, + -1029.0142464885682, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -906.4819730747934, + -1027.5142464885682, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -909.0800492861467, + -1026.0142464885682, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -911.6781254975001, + -1024.5142464885682, + 58.64831612580991 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -911.6781254975001, + -1024.5142464885682, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -914.6781254975001, + -1024.5142464885682, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -917.6781254975001, + -1024.5142464885682, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -920.6781254975001, + -1024.5142464885682, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -923.6781254975001, + -1024.5142464885682, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -926.6781254975001, + -1024.5142464885682, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -929.6781254975001, + -1024.5142464885682, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -932.6781254975001, + -1024.5142464885682, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -935.6781254975001, + -1024.5142464885682, + 58.64831612580991 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -938.6781254975001, + -1024.5142464885682, + 58.64831612580991 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -976.0, + -1000.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_19-53-36_1304811783/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_19-53-36_1304811783/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f9ab963798b1544719135b2b593d5e3a39ebbb6a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_19-53-36_1304811783/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 990.9997348963057, + -4.953705902520824, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 990.9997348963057, + -1.9537059025208237, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 990.9997348963057, + 1.0462940974791763, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 990.9997348963057, + 4.046294097479176, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 990.9997348963057, + 7.046294097479176, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 990.9997348963057, + 10.046294097479176, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 990.9997348963057, + 13.046294097479176, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 990.9997348963057, + 16.046294097479176, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 990.9997348963057, + 19.046294097479176, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 990.9997348963057, + 22.046294097479176, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 990.9997348963057, + 25.046294097479176, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 990.9997348963057, + 28.046294097479176, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 990.9997348963057, + 31.046294097479176, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 990.9997348963057, + 34.046294097479176, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 990.9997348963057, + 37.046294097479176, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 990.9997348963057, + 40.046294097479176, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 990.9997348963057, + 43.046294097479176, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 990.9997348963057, + 46.046294097479176, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 990.9997348963057, + 49.046294097479176, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 990.9997348963057, + 52.046294097479176, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 990.9997348963057, + 55.046294097479176, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 990.9997348963057, + 58.046294097479176, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 990.9997348963057, + 61.046294097479176, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 990.9997348963057, + 64.04629409747918, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 990.9997348963057, + 67.04629409747918, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 990.9997348963057, + 70.04629409747918, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 990.9997348963057, + 73.04629409747918, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 990.9997348963057, + 76.04629409747918, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 990.9997348963057, + 79.04629409747918, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 990.9997348963057, + 82.04629409747918, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 990.9997348963057, + 85.04629409747918, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 990.9997348963057, + 88.04629409747918, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 990.9997348963057, + 91.04629409747918, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 990.9997348963057, + 94.04629409747918, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 990.9997348963057, + 97.04629409747918, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 990.9997348963057, + 100.04629409747918, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 990.9997348963057, + 103.04629409747918, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 990.9997348963057, + 106.04629409747918, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 990.9997348963057, + 109.04629409747918, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 990.9997348963057, + 112.04629409747918, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 990.9997348963057, + 115.04629409747918, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 990.9997348963057, + 118.04629409747918, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 990.9997348963057, + 121.04629409747918, + 68.82127428380458 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 990.9997348963057, + 121.04629409747918, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 992.4997348963057, + 123.64437030883249, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 993.9997348963057, + 126.24244652018581, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 995.4997348963057, + 128.84052273153912, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 996.9997348963057, + 131.43859894289244, + 68.82127428380458 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 998.4997348963057, + 134.03667515424576, + 68.82127428380458 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1000.0, + 172.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-12-5_96055805/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-12-5_96055805/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d419ee4e97eeb857d5cd0718a072686f69fc9254 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-12-5_96055805/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 525.9917344355393, + -530.6168740679325, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 527.4917344355393, + -533.2149502792859, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 528.9917344355393, + -535.8130264906392, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 530.4917344355393, + -538.4111027019926, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 531.9917344355393, + -541.009178913346, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 533.4917344355393, + -543.6072551246993, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 534.9917344355393, + -546.2053313360527, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 536.4917344355393, + -548.8034075474061, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 537.9917344355393, + -551.4014837587595, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 539.4917344355393, + -553.9995599701128, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 540.9917344355393, + -556.5976361814662, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 542.4917344355393, + -559.1957123928196, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 543.9917344355393, + -561.793788604173, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 545.4917344355393, + -564.3918648155263, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 546.9917344355393, + -566.9899410268797, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 548.4917344355393, + -569.5880172382331, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 549.9917344355393, + -572.1860934495865, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 551.4917344355393, + -574.7841696609398, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 552.9917344355393, + -577.3822458722932, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 554.4917344355393, + -579.9803220836466, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 555.9917344355393, + -582.5783982949999, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 557.4917344355393, + -585.1764745063533, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 558.9917344355393, + -587.7745507177067, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 560.4917344355393, + -590.3726269290601, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 561.9917344355393, + -592.9707031404134, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 563.4917344355393, + -595.5687793517668, + 66.56204441033705 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 563.4917344355393, + -595.5687793517668, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 563.4917344355393, + -598.5687793517668, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 563.4917344355393, + -601.5687793517668, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 563.4917344355393, + -604.5687793517668, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 563.4917344355393, + -607.5687793517668, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 563.4917344355393, + -610.5687793517668, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 563.4917344355393, + -613.5687793517668, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 563.4917344355393, + -616.5687793517668, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 563.4917344355393, + -619.5687793517668, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 563.4917344355393, + -622.5687793517668, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 563.4917344355393, + -625.5687793517668, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 563.4917344355393, + -628.5687793517668, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 563.4917344355393, + -631.5687793517668, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 563.4917344355393, + -634.5687793517668, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 563.4917344355393, + -637.5687793517668, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 563.4917344355393, + -640.5687793517668, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 563.4917344355393, + -643.5687793517668, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 563.4917344355393, + -646.5687793517668, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 563.4917344355393, + -649.5687793517668, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 563.4917344355393, + -652.5687793517668, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 563.4917344355393, + -655.5687793517668, + 66.56204441033705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 563.4917344355393, + -658.5687793517668, + 66.56204441033705 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 568.0, + -676.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-24-2_987987334/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-24-2_987987334/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..59d2e5ce505ccea88ff14bb62911b9647183ed3a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-24-2_987987334/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1683.8009880763836, + -1282.7361066305596, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1685.3009880763836, + -1280.1380304192062, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1686.8009880763836, + -1277.5399542078528, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1688.3009880763836, + -1274.9418779964994, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1689.8009880763836, + -1272.343801785146, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1691.3009880763836, + -1269.7457255737927, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1692.8009880763836, + -1267.1476493624393, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1694.3009880763836, + -1264.549573151086, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1695.8009880763836, + -1261.9514969397326, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1697.3009880763836, + -1259.3534207283792, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1698.8009880763836, + -1256.7553445170258, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1700.3009880763836, + -1254.1572683056725, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1701.8009880763836, + -1251.559192094319, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1703.3009880763836, + -1248.9611158829657, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1704.8009880763836, + -1246.3630396716123, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1706.3009880763836, + -1243.764963460259, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1707.8009880763836, + -1241.1668872489056, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1709.3009880763836, + -1238.5688110375522, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1710.8009880763836, + -1235.9707348261988, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1712.3009880763836, + -1233.3726586148455, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1713.8009880763836, + -1230.774582403492, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1715.3009880763836, + -1228.1765061921387, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1716.8009880763836, + -1225.5784299807854, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1718.3009880763836, + -1222.980353769432, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1719.8009880763836, + -1220.3822775580786, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1721.3009880763836, + -1217.7842013467252, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1722.8009880763836, + -1215.1861251353719, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1724.3009880763836, + -1212.5880489240185, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1725.8009880763836, + -1209.9899727126651, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1727.3009880763836, + -1207.3918965013117, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1728.8009880763836, + -1204.7938202899584, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1730.3009880763836, + -1202.195744078605, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1731.8009880763836, + -1199.5976678672516, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1733.3009880763836, + -1196.9995916558983, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1734.8009880763836, + -1194.4015154445449, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1736.3009880763836, + -1191.8034392331915, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1737.8009880763836, + -1189.2053630218381, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1739.3009880763836, + -1186.6072868104848, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1740.8009880763836, + -1184.0092105991314, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1742.3009880763836, + -1181.411134387778, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1743.8009880763836, + -1178.8130581764246, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1745.3009880763836, + -1176.2149819650713, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1746.8009880763836, + -1173.616905753718, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1748.3009880763836, + -1171.0188295423645, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1749.8009880763836, + -1168.4207533310112, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1751.3009880763836, + -1165.8226771196578, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1752.8009880763836, + -1163.2246009083044, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1754.3009880763836, + -1160.626524696951, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1755.8009880763836, + -1158.0284484855977, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1757.3009880763836, + -1155.4303722742443, + 61.191855246393246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1758.8009880763836, + -1152.832296062891, + 61.191855246393246 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1772.0, + -1128.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-26-6_411522957/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-26-6_411522957/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..60a0373a7a299ad9adb5dca06f29706568445a63 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-26-6_411522957/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -10.659665750948434, + 726.0128746793062, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -12.159665750948434, + 728.6109508906595, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -13.659665750948434, + 731.2090271020129, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -15.159665750948434, + 733.8071033133663, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -16.659665750948434, + 736.4051795247196, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -18.159665750948434, + 739.003255736073, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -19.659665750948434, + 741.6013319474264, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -21.159665750948434, + 744.1994081587798, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -22.659665750948434, + 746.7974843701331, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -24.159665750948434, + 749.3955605814865, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -25.659665750948434, + 751.9936367928399, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -27.159665750948434, + 754.5917130041933, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -28.659665750948434, + 757.1897892155466, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -30.159665750948434, + 759.7878654269, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -31.659665750948434, + 762.3859416382534, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -33.159665750948434, + 764.9840178496067, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -34.659665750948434, + 767.5820940609601, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -36.159665750948434, + 770.1801702723135, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -37.659665750948434, + 772.7782464836669, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -39.159665750948434, + 775.3763226950202, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -40.659665750948434, + 777.9743989063736, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -42.159665750948434, + 780.572475117727, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -43.659665750948434, + 783.1705513290804, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -45.159665750948434, + 785.7686275404337, + 56.82275276045821 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -45.159665750948434, + 785.7686275404337, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -45.159665750948434, + 788.7686275404337, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -45.159665750948434, + 791.7686275404337, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -45.159665750948434, + 794.7686275404337, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -45.159665750948434, + 797.7686275404337, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -45.159665750948434, + 800.7686275404337, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -45.159665750948434, + 803.7686275404337, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -45.159665750948434, + 806.7686275404337, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -45.159665750948434, + 809.7686275404337, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -45.159665750948434, + 812.7686275404337, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -45.159665750948434, + 815.7686275404337, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -45.159665750948434, + 818.7686275404337, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -45.159665750948434, + 821.7686275404337, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -45.159665750948434, + 824.7686275404337, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -45.159665750948434, + 827.7686275404337, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -45.159665750948434, + 830.7686275404337, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -45.159665750948434, + 833.7686275404337, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -45.159665750948434, + 836.7686275404337, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -45.159665750948434, + 839.7686275404337, + 56.82275276045821 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -45.159665750948434, + 842.7686275404337, + 56.82275276045821 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -56.0, + 876.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-36-41_1466942491/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-36-41_1466942491/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..79da2a81592b9b1d830b7c608bf32b38ca9feedb --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-36-41_1466942491/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 731.4433924863081, + -1040.260406804957, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 729.9433924863081, + -1037.6623305936037, + 59.921861780003624 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 729.9433924863081, + -1037.6623305936037, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 727.3453162749547, + -1036.1623305936037, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 724.7472400636013, + -1034.6623305936037, + 59.921861780003624 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 724.7472400636013, + -1034.6623305936037, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 723.2472400636013, + -1032.0642543822503, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 721.7472400636013, + -1029.466178170897, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 720.2472400636013, + -1026.8681019595435, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 718.7472400636013, + -1024.2700257481902, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 717.2472400636013, + -1021.6719495368368, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 715.7472400636013, + -1019.0738733254834, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 714.2472400636013, + -1016.47579711413, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 712.7472400636013, + -1013.8777209027767, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 711.2472400636013, + -1011.2796446914233, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 709.7472400636013, + -1008.6815684800699, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 708.2472400636013, + -1006.0834922687166, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 706.7472400636013, + -1003.4854160573632, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 705.2472400636013, + -1000.8873398460098, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 703.7472400636013, + -998.2892636346564, + 59.921861780003624 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 703.7472400636013, + -998.2892636346564, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 703.7472400636013, + -995.2892636346564, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 703.7472400636013, + -992.2892636346564, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 703.7472400636013, + -989.2892636346564, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 703.7472400636013, + -986.2892636346564, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 703.7472400636013, + -983.2892636346564, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 703.7472400636013, + -980.2892636346564, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 703.7472400636013, + -977.2892636346564, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 703.7472400636013, + -974.2892636346564, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 703.7472400636013, + -971.2892636346564, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 703.7472400636013, + -968.2892636346564, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 703.7472400636013, + -965.2892636346564, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 703.7472400636013, + -962.2892636346564, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 703.7472400636013, + -959.2892636346564, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 703.7472400636013, + -956.2892636346564, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 703.7472400636013, + -953.2892636346564, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 703.7472400636013, + -950.2892636346564, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 703.7472400636013, + -947.2892636346564, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 703.7472400636013, + -944.2892636346564, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 703.7472400636013, + -941.2892636346564, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 703.7472400636013, + -938.2892636346564, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 703.7472400636013, + -935.2892636346564, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 703.7472400636013, + -932.2892636346564, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 703.7472400636013, + -929.2892636346564, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 703.7472400636013, + -926.2892636346564, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 703.7472400636013, + -923.2892636346564, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 703.7472400636013, + -920.2892636346564, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 703.7472400636013, + -917.2892636346564, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 703.7472400636013, + -914.2892636346564, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 703.7472400636013, + -911.2892636346564, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 703.7472400636013, + -908.2892636346564, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 703.7472400636013, + -905.2892636346564, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 703.7472400636013, + -902.2892636346564, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 703.7472400636013, + -899.2892636346564, + 59.921861780003624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 703.7472400636013, + -896.2892636346564, + 59.921861780003624 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 700.0, + -868.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-56-6_2067062760/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-56-6_2067062760/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5cf4ea3c65e690b1f1d79d60389199cb7abcde0c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-56-6_2067062760/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -192.39014051122788, + -4.073264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -189.39014051122788, + -4.073264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -186.39014051122788, + -4.073264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -183.39014051122788, + -4.073264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -180.39014051122788, + -4.073264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -177.39014051122788, + -4.073264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -174.39014051122788, + -4.073264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -171.39014051122788, + -4.073264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -168.39014051122788, + -4.073264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -165.39014051122788, + -4.073264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -162.39014051122788, + -4.073264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -159.39014051122788, + -4.073264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -156.39014051122788, + -4.073264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -153.39014051122788, + -4.073264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -150.39014051122788, + -4.073264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -147.39014051122788, + -4.073264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -144.39014051122788, + -4.073264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -141.39014051122788, + -4.073264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -138.39014051122788, + -4.073264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -135.39014051122788, + -4.073264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -132.39014051122788, + -4.073264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -129.39014051122788, + -4.073264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -126.39014051122788, + -4.073264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -123.39014051122788, + -4.073264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -120.39014051122788, + -4.073264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -117.39014051122788, + -4.073264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -114.39014051122788, + -4.073264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -111.39014051122788, + -4.073264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -108.39014051122788, + -4.073264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -105.39014051122788, + -4.073264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -102.39014051122788, + -4.073264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -99.39014051122788, + -4.073264494018467, + 54.44422972063583 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -99.39014051122788, + -4.073264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -96.79206429987457, + -5.573264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -94.19398808852125, + -7.073264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -91.59591187716794, + -8.573264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -88.99783566581462, + -10.073264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -86.3997594544613, + -11.573264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -83.80168324310799, + -13.073264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -81.20360703175467, + -14.573264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -78.60553082040136, + -16.073264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -76.00745460904804, + -17.573264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -73.40937839769472, + -19.073264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -70.81130218634141, + -20.573264494018467, + 54.44422972063583 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -68.21322597498809, + -22.073264494018467, + 54.44422972063583 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -36.0, + -28.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_21-39-37_698312496/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_21-39-37_698312496/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..658fec2311dbb6e099e007bd4bcb29167775ba0b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_21-39-37_698312496/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1349.8105382487, + -1560.06207217704, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1352.8105382487, + -1560.06207217704, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1355.8105382487, + -1560.06207217704, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1358.8105382487, + -1560.06207217704, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1361.8105382487, + -1560.06207217704, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1364.8105382487, + -1560.06207217704, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1367.8105382487, + -1560.06207217704, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1370.8105382487, + -1560.06207217704, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1373.8105382487, + -1560.06207217704, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1376.8105382487, + -1560.06207217704, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1379.8105382487, + -1560.06207217704, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1382.8105382487, + -1560.06207217704, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1385.8105382487, + -1560.06207217704, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1388.8105382487, + -1560.06207217704, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1391.8105382487, + -1560.06207217704, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1394.8105382487, + -1560.06207217704, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1397.8105382487, + -1560.06207217704, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1400.8105382487, + -1560.06207217704, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1403.8105382487, + -1560.06207217704, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1406.8105382487, + -1560.06207217704, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1409.8105382487, + -1560.06207217704, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1412.8105382487, + -1560.06207217704, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1415.8105382487, + -1560.06207217704, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1418.8105382487, + -1560.06207217704, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1421.8105382487, + -1560.06207217704, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1424.8105382487, + -1560.06207217704, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1427.8105382487, + -1560.06207217704, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1430.8105382487, + -1560.06207217704, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1433.8105382487, + -1560.06207217704, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1436.8105382487, + -1560.06207217704, + 66.95645194953417 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1436.8105382487, + -1560.06207217704, + 66.95645194953417 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1436.8105382487, + -1560.06207217704, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1438.3105382487, + -1562.6601483883933, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1439.8105382487, + -1565.2582245997467, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1441.3105382487, + -1567.8563008111, + 66.95645194953417 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1441.3105382487, + -1567.8563008111, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1443.9086144600533, + -1569.3563008111, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1446.5066906714067, + -1570.8563008111, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1449.10476688276, + -1572.3563008111, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1451.7028430941134, + -1573.8563008111, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1454.3009193054668, + -1575.3563008111, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1456.8989955168202, + -1576.8563008111, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1459.4970717281735, + -1578.3563008111, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1462.095147939527, + -1579.8563008111, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1464.6932241508803, + -1581.3563008111, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1467.2913003622336, + -1582.8563008111, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1469.889376573587, + -1584.3563008111, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1472.4874527849404, + -1585.8563008111, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1475.0855289962938, + -1587.3563008111, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1477.6836052076471, + -1588.8563008111, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1480.2816814190005, + -1590.3563008111, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1482.8797576303539, + -1591.8563008111, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1485.4778338417073, + -1593.3563008111, + 66.95645194953417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1488.0759100530606, + -1594.8563008111, + 66.95645194953417 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.0, + -1604.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_21-48-5_1812718902/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_21-48-5_1812718902/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a13a884dd72a0c166ba0ff7d07a4a82c325bf358 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_21-48-5_1812718902/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1040.9748196133628, + 208.94445849122297, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1039.4748196133628, + 211.5425347025763, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1037.9748196133628, + 214.1406109139296, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1036.4748196133628, + 216.73868712528292, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1034.9748196133628, + 219.33676333663624, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1033.4748196133628, + 221.93483954798955, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1031.9748196133628, + 224.53291575934287, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1030.4748196133628, + 227.1309919706962, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1028.9748196133628, + 229.7290681820495, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1027.4748196133628, + 232.32714439340282, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1025.9748196133628, + 234.92522060475613, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1024.4748196133628, + 237.52329681610945, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1022.9748196133628, + 240.12137302746277, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1021.4748196133628, + 242.71944923881608, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1019.9748196133628, + 245.3175254501694, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1018.4748196133628, + 247.91560166152271, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1016.9748196133628, + 250.51367787287603, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1015.4748196133628, + 253.11175408422935, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1013.9748196133628, + 255.70983029558266, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1012.4748196133628, + 258.307906506936, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1010.9748196133628, + 260.9059827182893, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1009.4748196133628, + 263.5040589296426, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1007.9748196133628, + 266.1021351409959, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1006.4748196133628, + 268.70021135234924, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1004.9748196133628, + 271.29828756370256, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1003.4748196133628, + 273.8963637750559, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1001.9748196133628, + 276.4944399864092, + 42.41467558692547 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1001.9748196133628, + 276.4944399864092, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 999.3767434020094, + 277.9944399864092, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 996.778667190656, + 279.4944399864092, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 994.1805909793027, + 280.9944399864092, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 991.5825147679493, + 282.4944399864092, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 988.9844385565959, + 283.9944399864092, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 986.3863623452426, + 285.4944399864092, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 983.7882861338892, + 286.9944399864092, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 981.1902099225358, + 288.4944399864092, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 978.5921337111824, + 289.9944399864092, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 975.9940574998291, + 291.4944399864092, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 973.3959812884757, + 292.9944399864092, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 970.7979050771223, + 294.4944399864092, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 968.199828865769, + 295.9944399864092, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 965.6017526544156, + 297.4944399864092, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 963.0036764430622, + 298.9944399864092, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 960.4056002317088, + 300.4944399864092, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 957.8075240203555, + 301.9944399864092, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 955.2094478090021, + 303.4944399864092, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 952.6113715976487, + 304.9944399864092, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 950.0132953862953, + 306.4944399864092, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 947.415219174942, + 307.9944399864092, + 42.41467558692547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 944.8171429635886, + 309.4944399864092, + 42.41467558692547 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 924.0, + 332.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-55-50_724025165/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-55-50_724025165/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5426c96d8045b175818f1968084347dcdf8ea0b7 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-55-50_724025165/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1742.3013142958946, + -1614.0571699258062, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1740.8013142958946, + -1611.4590937144528, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1739.3013142958946, + -1608.8610175030994, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1737.8013142958946, + -1606.262941291746, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1736.3013142958946, + -1603.6648650803927, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1734.8013142958946, + -1601.0667888690393, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1733.3013142958946, + -1598.468712657686, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1731.8013142958946, + -1595.8706364463326, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1730.3013142958946, + -1593.2725602349792, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1728.8013142958946, + -1590.6744840236258, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1727.3013142958946, + -1588.0764078122725, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1725.8013142958946, + -1585.478331600919, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1724.3013142958946, + -1582.8802553895657, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1722.8013142958946, + -1580.2821791782123, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1721.3013142958946, + -1577.684102966859, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1719.8013142958946, + -1575.0860267555056, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1718.3013142958946, + -1572.4879505441522, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1716.8013142958946, + -1569.8898743327989, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1715.3013142958946, + -1567.2917981214455, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1713.8013142958946, + -1564.693721910092, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1712.3013142958946, + -1562.0956456987387, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1710.8013142958946, + -1559.4975694873854, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1709.3013142958946, + -1556.899493276032, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1707.8013142958946, + -1554.3014170646786, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1706.3013142958946, + -1551.7033408533252, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1704.8013142958946, + -1549.1052646419719, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1703.3013142958946, + -1546.5071884306185, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1701.8013142958946, + -1543.9091122192651, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1700.3013142958946, + -1541.3110360079118, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1698.8013142958946, + -1538.7129597965584, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1697.3013142958946, + -1536.114883585205, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1695.8013142958946, + -1533.5168073738516, + 61.58454201792425 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1695.8013142958946, + -1533.5168073738516, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1693.2032380845412, + -1532.0168073738516, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1690.6051618731879, + -1530.5168073738516, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1688.0070856618345, + -1529.0168073738516, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1685.409009450481, + -1527.5168073738516, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1682.8109332391277, + -1526.0168073738516, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1680.2128570277744, + -1524.5168073738516, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1677.614780816421, + -1523.0168073738516, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1675.0167046050676, + -1521.5168073738516, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1672.4186283937142, + -1520.0168073738516, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1669.8205521823609, + -1518.5168073738516, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1667.2224759710075, + -1517.0168073738516, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1664.6243997596541, + -1515.5168073738516, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1662.0263235483008, + -1514.0168073738516, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1659.4282473369474, + -1512.5168073738516, + 61.58454201792425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1656.830171125594, + -1511.0168073738516, + 61.58454201792425 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1628.0, + -1476.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-6-0_1984498433/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-6-0_1984498433/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aa6a76235d885344c2eaf6ed8919274b4029b21f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-6-0_1984498433/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 456.7743510514126, + 791.8990796438862, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 458.2743510514126, + 794.4971558552395, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 459.7743510514126, + 797.0952320665929, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 461.2743510514126, + 799.6933082779462, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 462.7743510514126, + 802.2913844892996, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 464.2743510514126, + 804.889460700653, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 465.7743510514126, + 807.4875369120064, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 467.2743510514126, + 810.0856131233597, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 468.7743510514126, + 812.6836893347131, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 470.2743510514126, + 815.2817655460665, + 59.49951794853297 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 470.2743510514126, + 815.2817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 472.87242726276594, + 816.7817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 475.47050347411925, + 818.2817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 478.06857968547257, + 819.7817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 480.6666558968259, + 821.2817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 483.2647321081792, + 822.7817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 485.8628083195325, + 824.2817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 488.46088453088583, + 825.7817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 491.05896074223915, + 827.2817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 493.65703695359247, + 828.7817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 496.2551131649458, + 830.2817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 498.8531893762991, + 831.7817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 501.4512655876524, + 833.2817655460665, + 59.49951794853297 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 501.4512655876524, + 833.2817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 504.4512655876524, + 833.2817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 507.4512655876524, + 833.2817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 510.4512655876524, + 833.2817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 513.4512655876524, + 833.2817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 516.4512655876524, + 833.2817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 519.4512655876524, + 833.2817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 522.4512655876524, + 833.2817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 525.4512655876524, + 833.2817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 528.4512655876524, + 833.2817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 531.4512655876524, + 833.2817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 534.4512655876524, + 833.2817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 537.4512655876524, + 833.2817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 540.4512655876524, + 833.2817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 543.4512655876524, + 833.2817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 546.4512655876524, + 833.2817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 549.4512655876524, + 833.2817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 552.4512655876524, + 833.2817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 555.4512655876524, + 833.2817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 558.4512655876524, + 833.2817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 561.4512655876524, + 833.2817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 564.4512655876524, + 833.2817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 567.4512655876524, + 833.2817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 570.4512655876524, + 833.2817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 573.4512655876524, + 833.2817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 576.4512655876524, + 833.2817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 579.4512655876524, + 833.2817655460665, + 59.49951794853297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 582.4512655876524, + 833.2817655460665, + 59.49951794853297 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 608.0, + 840.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-1-53_839425676/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-1-53_839425676/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1ab26f2e43626f21fcc9ea3bf414f39b270b5095 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-1-53_839425676/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 481.554407092485, + -514.9394877126397, + 58.18183418019633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 478.9563308811317, + -516.4394877126397, + 58.18183418019633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 476.3582546697784, + -517.9394877126397, + 58.18183418019633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 473.76017845842506, + -519.4394877126397, + 58.18183418019633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 471.16210224707174, + -520.9394877126397, + 58.18183418019633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 468.5640260357184, + -522.4394877126397, + 58.18183418019633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 465.9659498243651, + -523.9394877126397, + 58.18183418019633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 463.3678736130118, + -525.4394877126397, + 58.18183418019633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 460.7697974016585, + -526.9394877126397, + 58.18183418019633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 458.17172119030516, + -528.4394877126397, + 58.18183418019633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 455.57364497895185, + -529.9394877126397, + 58.18183418019633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 452.97556876759853, + -531.4394877126397, + 58.18183418019633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 450.3774925562452, + -532.9394877126397, + 58.18183418019633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 447.7794163448919, + -534.4394877126397, + 58.18183418019633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 445.1813401335386, + -535.9394877126397, + 58.18183418019633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 442.58326392218527, + -537.4394877126397, + 58.18183418019633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 439.98518771083195, + -538.9394877126397, + 58.18183418019633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 437.38711149947864, + -540.4394877126397, + 58.18183418019633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 434.7890352881253, + -541.9394877126397, + 58.18183418019633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 432.190959076772, + -543.4394877126397, + 58.18183418019633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 429.5928828654187, + -544.9394877126397, + 58.18183418019633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 426.99480665406537, + -546.4394877126397, + 58.18183418019633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 424.39673044271206, + -547.9394877126397, + 58.18183418019633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 421.79865423135874, + -549.4394877126397, + 58.18183418019633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 419.2005780200054, + -550.9394877126397, + 58.18183418019633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 416.6025018086521, + -552.4394877126397, + 58.18183418019633 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 416.6025018086521, + -552.4394877126397, + 58.18183418019633 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 413.6025018086521, + -552.4394877126397, + 58.18183418019633 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 410.6025018086521, + -552.4394877126397, + 58.18183418019633 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 407.6025018086521, + -552.4394877126397, + 58.18183418019633 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 404.6025018086521, + -552.4394877126397, + 58.18183418019633 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 401.6025018086521, + -552.4394877126397, + 58.18183418019633 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 398.6025018086521, + -552.4394877126397, + 58.18183418019633 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 332.0, + -584.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-11-28_775056794/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-11-28_775056794/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0ca86b39bd72efc37a808a68931eee655bb5a30d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-11-28_775056794/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 448.7475007776057, + -24.77286277124017, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 451.345576988959, + -23.27286277124017, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 453.9436532003123, + -21.77286277124017, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 456.54172941166564, + -20.27286277124017, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 459.13980562301896, + -18.77286277124017, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 461.7378818343723, + -17.27286277124017, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 464.3359580457256, + -15.77286277124017, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 466.9340342570789, + -14.27286277124017, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 469.5321104684322, + -12.77286277124017, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 472.13018667978554, + -11.27286277124017, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 474.72826289113885, + -9.77286277124017, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 477.32633910249217, + -8.27286277124017, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 479.9244153138455, + -6.77286277124017, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 482.5224915251988, + -5.27286277124017, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 485.1205677365521, + -3.7728627712401703, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 487.71864394790543, + -2.2728627712401703, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 490.31672015925875, + -0.7728627712401706, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 492.91479637061207, + 0.7271372287598292, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 495.5128725819654, + 2.227137228759829, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 498.1109487933187, + 3.727137228759829, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 500.709025004672, + 5.227137228759829, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 503.30710121602533, + 6.727137228759829, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 505.90517742737865, + 8.227137228759828, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982986 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 508.50325363873196, + 9.727137228759828, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 511.1013298500853, + 11.227137228759828, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 513.6994060614386, + 12.727137228759828, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 516.297482272792, + 14.227137228759828, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 518.8955584841453, + 15.727137228759828, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 521.4936346954987, + 17.227137228759826, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982888 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 524.0917109068521, + 18.727137228759826, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 526.6897871182055, + 20.227137228759826, + 50.947788286312374 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 526.6897871182055, + 20.227137228759826, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 528.1897871182055, + 22.825213440113142, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 529.6897871182055, + 25.423289651466458, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 531.1897871182055, + 28.021365862819774, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 532.6897871182055, + 30.61944207417309, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 534.1897871182055, + 33.21751828552641, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965983 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 535.6897871182055, + 35.815594496879726, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 537.1897871182055, + 38.41367070823304, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 538.6897871182055, + 41.01174691958636, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 540.1897871182055, + 43.609823130939674, + 50.947788286312374 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 540.1897871182055, + 43.609823130939674, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 542.7878633295588, + 45.109823130939674, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 545.3859395409122, + 46.609823130939674, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 547.9840157522656, + 48.109823130939674, + 50.947788286312374 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 550.582091963619, + 49.609823130939674, + 50.947788286312374 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 576.0, + 68.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-13-49_442982639/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-13-49_442982639/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3d9b93f5eb0fa42294b39ee315c38717f12b3692 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-13-49_442982639/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1365.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1362.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1359.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1356.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1353.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1350.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1347.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1344.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1341.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1338.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1335.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1332.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1329.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1326.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1323.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1320.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1317.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1314.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1311.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1308.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1305.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1302.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1299.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1296.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1293.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1290.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1287.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1284.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1281.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1278.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1275.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1272.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1269.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1266.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1263.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1260.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1257.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1254.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1251.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1248.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1245.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1242.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1239.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1236.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1233.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1230.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1227.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1224.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1221.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1218.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1215.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1212.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1212.9248090981994, + -710.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1210.326732886846, + -712.474402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1207.7286566754926, + -713.974402896064, + 46.627829049079025 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1205.1305804641393, + -715.474402896064, + 46.627829049079025 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1188.0, + -716.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-15-3_4744263/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-15-3_4744263/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..78815c33398c5a5c4439b78c3495d2ffef0385ec --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-15-3_4744263/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 939.2520381172828, + -143.7584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 936.6539619059295, + -145.2584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 934.0558856945761, + -146.7584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 931.4578094832227, + -148.2584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 928.8597332718693, + -149.7584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 926.261657060516, + -151.2584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 923.6635808491626, + -152.7584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 921.0655046378092, + -154.2584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 918.4674284264559, + -155.7584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 915.8693522151025, + -157.2584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 913.2712760037491, + -158.7584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 910.6731997923957, + -160.2584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 908.0751235810424, + -161.7584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 905.477047369689, + -163.2584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 902.8789711583356, + -164.7584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 900.2808949469822, + -166.2584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 897.6828187356289, + -167.7584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 895.0847425242755, + -169.2584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 892.4866663129221, + -170.7584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 889.8885901015688, + -172.2584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 887.2905138902154, + -173.7584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 884.692437678862, + -175.2584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 882.0943614675086, + -176.7584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 879.4962852561553, + -178.2584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 876.8982090448019, + -179.7584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 874.3001328334485, + -181.2584901305132, + 69.14773674376386 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 874.3001328334485, + -181.2584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 871.3001328334485, + -181.2584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 868.3001328334485, + -181.2584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 865.3001328334485, + -181.2584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 862.3001328334485, + -181.2584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 859.3001328334485, + -181.2584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 856.3001328334485, + -181.2584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 853.3001328334485, + -181.2584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 850.3001328334485, + -181.2584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 847.3001328334485, + -181.2584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 844.3001328334485, + -181.2584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 841.3001328334485, + -181.2584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 838.3001328334485, + -181.2584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 835.3001328334485, + -181.2584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 832.3001328334485, + -181.2584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 829.3001328334485, + -181.2584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 826.3001328334485, + -181.2584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 823.3001328334485, + -181.2584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 820.3001328334485, + -181.2584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 817.3001328334485, + -181.2584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 814.3001328334485, + -181.2584901305132, + 69.14773674376386 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 811.3001328334485, + -181.2584901305132, + 69.14773674376386 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 788.0, + -188.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-19-47_1131352346/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-19-47_1131352346/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dc5de570f5227761248c932f7182587eaf8d3ca0 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-19-47_1131352346/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1442.4672997141743, + -948.0375098664277, + 57.920435464243916 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1443.9672997141743, + -945.4394336550745, + 57.920435464243916 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1443.9672997141743, + -945.4394336550745, + 57.920435464243916 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949063 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1443.9672997141743, + -942.4394336550745, + 57.920435464243916 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1443.9672997141743, + -939.4394336550745, + 57.920435464243916 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1443.9672997141743, + -936.4394336550745, + 57.920435464243916 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1443.9672997141743, + -933.4394336550745, + 57.920435464243916 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1443.9672997141743, + -933.4394336550745, + 57.920435464243916 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1443.9672997141743, + -933.4394336550745, + 57.920435464243916 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1443.9672997141743, + -933.4394336550745, + 57.920435464243916 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1446.9672997141743, + -933.4394336550745, + 57.920435464243916 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1449.9672997141743, + -933.4394336550745, + 57.920435464243916 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1452.9672997141743, + -933.4394336550745, + 57.920435464243916 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1455.9672997141743, + -933.4394336550745, + 57.920435464243916 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1458.9672997141743, + -933.4394336550745, + 57.920435464243916 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1461.9672997141743, + -933.4394336550745, + 57.920435464243916 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1464.9672997141743, + -933.4394336550745, + 57.920435464243916 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1467.9672997141743, + -933.4394336550745, + 57.920435464243916 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1470.9672997141743, + -933.4394336550745, + 57.920435464243916 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1473.9672997141743, + -933.4394336550745, + 57.920435464243916 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1476.9672997141743, + -933.4394336550745, + 57.920435464243916 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1479.9672997141743, + -933.4394336550745, + 57.920435464243916 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1482.9672997141743, + -933.4394336550745, + 57.920435464243916 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1485.9672997141743, + -933.4394336550745, + 57.920435464243916 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1488.9672997141743, + -933.4394336550745, + 57.920435464243916 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1491.9672997141743, + -933.4394336550745, + 57.920435464243916 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1494.9672997141743, + -933.4394336550745, + 57.920435464243916 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1497.9672997141743, + -933.4394336550745, + 57.920435464243916 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1500.9672997141743, + -933.4394336550745, + 57.920435464243916 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1503.9672997141743, + -933.4394336550745, + 57.920435464243916 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1506.9672997141743, + -933.4394336550745, + 57.920435464243916 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1509.9672997141743, + -933.4394336550745, + 57.920435464243916 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1512.9672997141743, + -933.4394336550745, + 57.920435464243916 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1515.9672997141743, + -933.4394336550745, + 57.920435464243916 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1518.9672997141743, + -933.4394336550745, + 57.920435464243916 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1521.9672997141743, + -933.4394336550745, + 57.920435464243916 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1524.9672997141743, + -933.4394336550745, + 57.920435464243916 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1527.9672997141743, + -933.4394336550745, + 57.920435464243916 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1530.9672997141743, + -933.4394336550745, + 57.920435464243916 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1533.9672997141743, + -933.4394336550745, + 57.920435464243916 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1536.9672997141743, + -933.4394336550745, + 57.920435464243916 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1539.9672997141743, + -933.4394336550745, + 57.920435464243916 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1592.0, + -928.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-25-26_1731190952/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-25-26_1731190952/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a52fdb00382264dd5022f042e67eda4712749cee --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-25-26_1731190952/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 830.4456994933264, + 846.4639793392067, + 69.63903832018158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 828.9456994933264, + 849.06205555056, + 69.63903832018158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 827.4456994933264, + 851.6601317619134, + 69.63903832018158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 825.9456994933264, + 854.2582079732667, + 69.63903832018158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 824.4456994933264, + 856.8562841846201, + 69.63903832018158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 822.9456994933264, + 859.4543603959735, + 69.63903832018158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 821.4456994933264, + 862.0524366073269, + 69.63903832018158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 819.9456994933264, + 864.6505128186802, + 69.63903832018158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 818.4456994933264, + 867.2485890300336, + 69.63903832018158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 816.9456994933264, + 869.846665241387, + 69.63903832018158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 815.4456994933264, + 872.4447414527403, + 69.63903832018158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 813.9456994933264, + 875.0428176640937, + 69.63903832018158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 812.4456994933264, + 877.6408938754471, + 69.63903832018158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 810.9456994933264, + 880.2389700868005, + 69.63903832018158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 809.4456994933264, + 882.8370462981538, + 69.63903832018158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 807.9456994933264, + 885.4351225095072, + 69.63903832018158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 806.4456994933264, + 888.0331987208606, + 69.63903832018158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 804.9456994933264, + 890.631274932214, + 69.63903832018158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 803.4456994933264, + 893.2293511435673, + 69.63903832018158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 801.9456994933264, + 895.8274273549207, + 69.63903832018158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 800.4456994933264, + 898.4255035662741, + 69.63903832018158 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 800.4456994933264, + 898.4255035662741, + 69.63903832018158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 800.4456994933264, + 901.4255035662741, + 69.63903832018158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 800.4456994933264, + 904.4255035662741, + 69.63903832018158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 800.4456994933264, + 907.4255035662741, + 69.63903832018158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 800.4456994933264, + 910.4255035662741, + 69.63903832018158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 800.4456994933264, + 913.4255035662741, + 69.63903832018158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 800.4456994933264, + 916.4255035662741, + 69.63903832018158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 800.4456994933264, + 919.4255035662741, + 69.63903832018158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 800.4456994933264, + 922.4255035662741, + 69.63903832018158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 800.4456994933264, + 925.4255035662741, + 69.63903832018158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 800.4456994933264, + 928.4255035662741, + 69.63903832018158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 800.4456994933264, + 931.4255035662741, + 69.63903832018158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 800.4456994933264, + 934.4255035662741, + 69.63903832018158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 800.4456994933264, + 937.4255035662741, + 69.63903832018158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 800.4456994933264, + 940.4255035662741, + 69.63903832018158 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 780.0, + 1000.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-29-4_707255825/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-29-4_707255825/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7114f506d739e9833188ccac882b7512f456370f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-29-4_707255825/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -54.71525892316531, + 1039.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -54.71525892316531, + 1036.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -54.71525892316531, + 1033.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -54.71525892316531, + 1030.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -54.71525892316531, + 1027.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -54.71525892316531, + 1024.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -54.71525892316531, + 1021.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -54.71525892316531, + 1018.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -54.71525892316531, + 1015.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -54.71525892316531, + 1012.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -54.71525892316531, + 1009.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -54.71525892316531, + 1006.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -54.71525892316531, + 1003.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -54.71525892316531, + 1000.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -54.71525892316531, + 997.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -54.71525892316531, + 994.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -54.71525892316531, + 991.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -54.71525892316531, + 988.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -54.71525892316531, + 985.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -54.71525892316531, + 982.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -54.71525892316531, + 979.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -54.71525892316531, + 976.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -54.71525892316531, + 973.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -54.71525892316531, + 970.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -54.71525892316531, + 967.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -54.71525892316531, + 964.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -54.71525892316531, + 961.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -54.71525892316531, + 958.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -54.71525892316531, + 955.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -54.71525892316531, + 952.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -54.71525892316531, + 949.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -54.71525892316531, + 946.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -54.71525892316531, + 943.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -54.71525892316531, + 940.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -54.71525892316531, + 937.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -54.71525892316531, + 934.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -54.71525892316531, + 931.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -54.71525892316531, + 928.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -54.71525892316531, + 925.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -54.71525892316531, + 922.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -54.71525892316531, + 919.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -54.71525892316531, + 916.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -54.71525892316531, + 913.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -54.71525892316531, + 910.032963492738, + 69.33089587399627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -54.71525892316531, + 907.032963492738, + 69.33089587399627 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -56.0, + 876.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-9-8_636453333/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-9-8_636453333/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..46875859636065cf25f0db8cd2a0d9d0df362a32 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-9-8_636453333/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1597.432802254023, + 1000.615295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1600.0308784653764, + 999.115295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1602.6289546767298, + 997.615295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1605.2270308880832, + 996.115295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1607.8251070994365, + 994.615295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1610.42318331079, + 993.115295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1613.0212595221433, + 991.615295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1615.6193357334967, + 990.115295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1618.21741194485, + 988.615295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1620.8154881562034, + 987.115295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1623.4135643675568, + 985.615295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1626.0116405789101, + 984.115295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1628.6097167902635, + 982.615295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1631.207793001617, + 981.115295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1633.8058692129703, + 979.615295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1636.4039454243236, + 978.115295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1639.002021635677, + 976.615295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1641.6000978470304, + 975.115295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1644.1981740583838, + 973.615295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1646.7962502697371, + 972.115295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1649.3943264810905, + 970.615295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1651.9924026924439, + 969.115295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1654.5904789037972, + 967.615295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1657.1885551151506, + 966.115295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1659.786631326504, + 964.615295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1662.3847075378574, + 963.115295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1664.9827837492107, + 961.615295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1667.580859960564, + 960.115295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1670.1789361719175, + 958.615295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1672.7770123832709, + 957.115295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1675.3750885946242, + 955.615295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1677.9731648059776, + 954.115295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1680.571241017331, + 952.615295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1683.1693172286843, + 951.115295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1685.7673934400377, + 949.615295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1688.365469651391, + 948.115295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1690.9635458627445, + 946.615295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1693.5616220740978, + 945.115295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1696.1596982854512, + 943.615295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1698.7577744968046, + 942.115295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1701.355850708158, + 940.615295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1703.9539269195113, + 939.115295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1706.5520031308647, + 937.615295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1709.150079342218, + 936.115295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1711.7481555535715, + 934.615295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1714.3462317649248, + 933.115295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1716.9443079762782, + 931.615295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1719.5423841876316, + 930.115295375443, + 61.80944132154285 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1719.5423841876316, + 930.115295375443, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1721.0423841876316, + 927.5172191640897, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1722.5423841876316, + 924.9191429527364, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1724.0423841876316, + 922.321066741383, + 61.80944132154285 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1725.5423841876316, + 919.7229905300296, + 61.80944132154285 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1748.0, + 904.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_0-31-16_1003463633/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_0-31-16_1003463633/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a69b4a2cbd2d5a746e4f3acdb3b9af9ba5dd84ed --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_0-31-16_1003463633/pose.jsonl @@ -0,0 +1,93 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1774.6827002634732, + 185.4672991157198, + 68.83882054408683 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1777.6827002634732, + 185.4672991157198, + 68.83882054408683 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1780.6827002634732, + 185.4672991157198, + 68.83882054408683 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1783.6827002634732, + 185.4672991157198, + 68.83882054408683 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1786.6827002634732, + 185.4672991157198, + 68.83882054408683 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1789.6827002634732, + 185.4672991157198, + 68.83882054408683 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1928.0, + 160.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_0-37-27_104852634/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_0-37-27_104852634/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4fb2e409fc715e04e0a276085ab6e5588f170f92 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_0-37-27_104852634/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1733.4703185491237, + -663.7869974145, + 54.89741660619666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1736.068394760477, + -662.2869974145, + 54.89741660619666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1738.6664709718304, + -660.7869974145, + 54.89741660619666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1741.2645471831838, + -659.2869974145, + 54.89741660619666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1743.8626233945372, + -657.7869974145, + 54.89741660619666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1746.4606996058906, + -656.2869974145, + 54.89741660619666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1749.058775817244, + -654.7869974145, + 54.89741660619666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1751.6568520285973, + -653.2869974145, + 54.89741660619666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1754.2549282399507, + -651.7869974145, + 54.89741660619666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1756.853004451304, + -650.2869974145, + 54.89741660619666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1759.4510806626574, + -648.7869974145, + 54.89741660619666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1762.0491568740108, + -647.2869974145, + 54.89741660619666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1764.6472330853642, + -645.7869974145, + 54.89741660619666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1767.2453092967176, + -644.2869974145, + 54.89741660619666 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1876.0, + -576.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_0-41-51_1916237892/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_0-41-51_1916237892/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bafc0bfd2b346d27e5f9b45e35b2dbb520200cd9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_0-41-51_1916237892/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1187.8351790936108, + 377.10083960733414, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1186.3351790936108, + 374.5027633959808, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1184.8351790936108, + 371.9046871846275, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1183.3351790936108, + 369.3066109732742, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1181.8351790936108, + 366.7085347619209, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1180.3351790936108, + 364.11045855056756, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1178.8351790936108, + 361.51238233921424, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1177.3351790936108, + 358.9143061278609, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1175.8351790936108, + 356.3162299165076, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1174.3351790936108, + 353.7181537051543, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1172.8351790936108, + 351.120077493801, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1171.3351790936108, + 348.52200128244766, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1169.8351790936108, + 345.92392507109435, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1168.3351790936108, + 343.32584885974103, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1166.8351790936108, + 340.7277726483877, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1165.3351790936108, + 338.1296964370344, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1163.8351790936108, + 335.5316202256811, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1162.3351790936108, + 332.93354401432777, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1160.8351790936108, + 330.33546780297445, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1159.3351790936108, + 327.73739159162113, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1157.8351790936108, + 325.1393153802678, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1156.3351790936108, + 322.5412391689145, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1154.8351790936108, + 319.9431629575612, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1153.3351790936108, + 317.34508674620787, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1151.8351790936108, + 314.74701053485455, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1150.3351790936108, + 312.14893432350124, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1148.8351790936108, + 309.5508581121479, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1147.3351790936108, + 306.9527819007946, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1145.8351790936108, + 304.3547056894413, + 63.96674208467974 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1145.8351790936108, + 304.3547056894413, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1145.8351790936108, + 301.3547056894413, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1145.8351790936108, + 298.3547056894413, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1145.8351790936108, + 295.3547056894413, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1145.8351790936108, + 292.3547056894413, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1145.8351790936108, + 289.3547056894413, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1145.8351790936108, + 286.3547056894413, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1145.8351790936108, + 283.3547056894413, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1145.8351790936108, + 280.3547056894413, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1145.8351790936108, + 277.3547056894413, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1145.8351790936108, + 274.3547056894413, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1145.8351790936108, + 271.3547056894413, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1145.8351790936108, + 268.3547056894413, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1145.8351790936108, + 265.3547056894413, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1145.8351790936108, + 262.3547056894413, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1145.8351790936108, + 259.3547056894413, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1145.8351790936108, + 256.3547056894413, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1145.8351790936108, + 253.3547056894413, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1145.8351790936108, + 250.3547056894413, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1145.8351790936108, + 247.3547056894413, + 63.96674208467974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1145.8351790936108, + 244.3547056894413, + 63.96674208467974 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0, + 212.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_0-52-52_989230775/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_0-52-52_989230775/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b761147a66d9994cd76271c57a771ce0016555a4 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_0-52-52_989230775/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1345.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1342.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1339.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1336.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1333.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1330.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1327.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1324.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1321.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1318.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1315.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1312.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1309.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1306.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1303.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1300.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1297.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1294.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1291.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1288.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1285.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1282.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1279.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1276.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1273.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1270.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1267.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1264.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1261.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1258.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1255.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1252.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1249.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1246.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1243.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1240.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1237.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1234.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1231.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1228.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1225.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1225.7708475683821, + -91.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1223.1727713570288, + -92.75602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1220.5746951456754, + -94.25602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1217.976618934322, + -95.75602474097465, + 56.286858163297595 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1215.3785427229686, + -97.25602474097465, + 56.286858163297595 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1188.0, + -100.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-32-54_880492499/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-32-54_880492499/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d505c3b55f6946d0258fd1c499193075e168aca7 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-32-54_880492499/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 922.2160504495009, + -287.01024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 919.6179742381476, + -285.51024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 917.0198980267942, + -284.01024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 914.4218218154408, + -282.51024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 911.8237456040874, + -281.01024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 909.2256693927341, + -279.51024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 906.6275931813807, + -278.01024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 904.0295169700273, + -276.51024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 901.431440758674, + -275.01024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 898.8333645473206, + -273.51024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 896.2352883359672, + -272.01024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 893.6372121246138, + -270.51024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 891.0391359132605, + -269.01024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 888.4410597019071, + -267.51024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 885.8429834905537, + -266.01024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 883.2449072792003, + -264.51024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 880.646831067847, + -263.01024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 878.0487548564936, + -261.51024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 875.4506786451402, + -260.01024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 872.8526024337868, + -258.51024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 870.2545262224335, + -257.01024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 867.6564500110801, + -255.51024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 865.0583737997267, + -254.01024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 862.4602975883734, + -252.51024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 859.86222137702, + -251.01024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 857.2641451656666, + -249.51024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 854.6660689543132, + -248.01024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 852.0679927429599, + -246.51024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 849.4699165316065, + -245.01024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 846.8718403202531, + -243.51024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 844.2737641088997, + -242.01024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 841.6756878975464, + -240.51024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 839.077611686193, + -239.01024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 836.4795354748396, + -237.51024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 833.8814592634862, + -236.01024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 831.2833830521329, + -234.51024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 828.6853068407795, + -233.01024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 826.0872306294261, + -231.51024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 823.4891544180728, + -230.01024957123957, + 58.83010268267613 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 823.4891544180728, + -230.01024957123957, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 821.9891544180728, + -227.41217335988625, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 820.4891544180728, + -224.81409714853294, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 818.9891544180728, + -222.21602093717962, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 817.4891544180728, + -219.6179447258263, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 815.9891544180728, + -217.019868514473, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 814.4891544180728, + -214.42179230311967, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 812.9891544180728, + -211.82371609176636, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 811.4891544180728, + -209.22563988041304, + 58.83010268267613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 809.9891544180728, + -206.62756366905973, + 58.83010268267613 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 788.0, + -188.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-33-24_224048977/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-33-24_224048977/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..274ded0324bc1aba61fc90e55a17baa7d792af6a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-33-24_224048977/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1719.1646402515007, + 1725.1155066245988, + 41.312530481851745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1720.6646402515007, + 1727.7135828359521, + 41.312530481851745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1722.1646402515007, + 1730.3116590473055, + 41.312530481851745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1723.6646402515007, + 1732.9097352586589, + 41.312530481851745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1725.1646402515007, + 1735.5078114700123, + 41.312530481851745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1726.6646402515007, + 1738.1058876813656, + 41.312530481851745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1728.1646402515007, + 1740.703963892719, + 41.312530481851745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1729.6646402515007, + 1743.3020401040724, + 41.312530481851745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1731.1646402515007, + 1745.9001163154257, + 41.312530481851745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1732.6646402515007, + 1748.4981925267791, + 41.312530481851745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1734.1646402515007, + 1751.0962687381325, + 41.312530481851745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1735.6646402515007, + 1753.6943449494859, + 41.312530481851745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1737.1646402515007, + 1756.2924211608392, + 41.312530481851745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1738.6646402515007, + 1758.8904973721926, + 41.312530481851745 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1738.6646402515007, + 1758.8904973721926, + 41.312530481851745 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1738.6646402515007, + 1758.8904973721926, + 41.312530481851745 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1737.1646402515007, + 1761.488573583546, + 41.312530481851745 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1737.1646402515007, + 1761.488573583546, + 41.312530481851745 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1737.1646402515007, + 1764.488573583546, + 41.312530481851745 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1737.1646402515007, + 1767.488573583546, + 41.312530481851745 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1737.1646402515007, + 1767.488573583546, + 41.312530481851745 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1735.6646402515007, + 1770.0866497948994, + 41.312530481851745 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1734.1646402515007, + 1772.6847260062527, + 41.312530481851745 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1734.1646402515007, + 1772.6847260062527, + 41.312530481851745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1731.5665640401473, + 1774.1847260062527, + 41.312530481851745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1728.968487828794, + 1775.6847260062527, + 41.312530481851745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1726.3704116174406, + 1777.1847260062527, + 41.312530481851745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1723.7723354060872, + 1778.6847260062527, + 41.312530481851745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1721.1742591947338, + 1780.1847260062527, + 41.312530481851745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1718.5761829833805, + 1781.6847260062527, + 41.312530481851745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1715.978106772027, + 1783.1847260062527, + 41.312530481851745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1713.3800305606737, + 1784.6847260062527, + 41.312530481851745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1710.7819543493204, + 1786.1847260062527, + 41.312530481851745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1708.183878137967, + 1787.6847260062527, + 41.312530481851745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1705.5858019266136, + 1789.1847260062527, + 41.312530481851745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1702.9877257152602, + 1790.6847260062527, + 41.312530481851745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1700.3896495039069, + 1792.1847260062527, + 41.312530481851745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1697.7915732925535, + 1793.6847260062527, + 41.312530481851745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1695.1934970812001, + 1795.1847260062527, + 41.312530481851745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1692.5954208698467, + 1796.6847260062527, + 41.312530481851745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1689.9973446584934, + 1798.1847260062527, + 41.312530481851745 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1660.0, + 1864.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-40-6_1999337836/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-40-6_1999337836/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8ab99c6447489621efb23c814046fee6dcefdad9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-40-6_1999337836/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 258.1792440991528, + -435.52198044998295, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 259.6792440991528, + -438.12005666133626, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 261.1792440991528, + -440.7181328726896, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 262.6792440991528, + -443.3162090840429, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 264.1792440991528, + -445.9142852953962, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 265.6792440991528, + -448.5123615067495, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 267.1792440991528, + -451.11043771810284, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 268.6792440991528, + -453.70851392945616, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 270.1792440991528, + -456.3065901408095, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 271.6792440991528, + -458.9046663521628, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 273.1792440991528, + -461.5027425635161, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 274.6792440991528, + -464.1008187748694, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 276.1792440991528, + -466.69889498622274, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 277.6792440991528, + -469.29697119757606, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 279.1792440991528, + -471.8950474089294, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 280.6792440991528, + -474.4931236202827, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 282.1792440991528, + -477.091199831636, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 283.6792440991528, + -479.6892760429893, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 285.1792440991528, + -482.28735225434264, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 286.6792440991528, + -484.88542846569595, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 288.1792440991528, + -487.48350467704927, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 289.6792440991528, + -490.0815808884026, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 291.1792440991528, + -492.6796570997559, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 292.6792440991528, + -495.2777333111092, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 294.1792440991528, + -497.87580952246253, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 295.6792440991528, + -500.47388573381585, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 297.1792440991528, + -503.07196194516916, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 298.6792440991528, + -505.6700381565225, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 300.1792440991528, + -508.2681143678758, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 301.6792440991528, + -510.8661905792291, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 303.1792440991528, + -513.4642667905824, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 304.6792440991528, + -516.0623430019357, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 306.1792440991528, + -518.6604192132891, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 307.6792440991528, + -521.2584954246424, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 309.1792440991528, + -523.8565716359958, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 310.6792440991528, + -526.4546478473492, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 312.1792440991528, + -529.0527240587026, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 313.6792440991528, + -531.6508002700559, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 315.1792440991528, + -534.2488764814093, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 316.6792440991528, + -536.8469526927627, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 318.1792440991528, + -539.445028904116, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 319.6792440991528, + -542.0431051154694, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 321.1792440991528, + -544.6411813268228, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 322.6792440991528, + -547.2392575381762, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 324.1792440991528, + -549.8373337495295, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 325.6792440991528, + -552.4354099608829, + 53.40520583398077 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 325.6792440991528, + -552.4354099608829, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 325.6792440991528, + -555.4354099608829, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 325.6792440991528, + -558.4354099608829, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 325.6792440991528, + -561.4354099608829, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 325.6792440991528, + -564.4354099608829, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 325.6792440991528, + -567.4354099608829, + 53.40520583398077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 325.6792440991528, + -570.4354099608829, + 53.40520583398077 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 332.0, + -584.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-41-4_2094613281/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-41-4_2094613281/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6b4f167a5ce821a266cbc98766d137cbd7807504 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-41-4_2094613281/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1700.841354445374, + -1633.2147341210998, + 54.1349109936343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1703.841354445374, + -1633.2147341210998, + 54.1349109936343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1706.841354445374, + -1633.2147341210998, + 54.1349109936343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1709.841354445374, + -1633.2147341210998, + 54.1349109936343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1712.841354445374, + -1633.2147341210998, + 54.1349109936343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1715.841354445374, + -1633.2147341210998, + 54.1349109936343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1718.841354445374, + -1633.2147341210998, + 54.1349109936343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1721.841354445374, + -1633.2147341210998, + 54.1349109936343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1724.841354445374, + -1633.2147341210998, + 54.1349109936343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1727.841354445374, + -1633.2147341210998, + 54.1349109936343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1730.841354445374, + -1633.2147341210998, + 54.1349109936343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1733.841354445374, + -1633.2147341210998, + 54.1349109936343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1736.841354445374, + -1633.2147341210998, + 54.1349109936343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1739.841354445374, + -1633.2147341210998, + 54.1349109936343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1742.841354445374, + -1633.2147341210998, + 54.1349109936343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1745.841354445374, + -1633.2147341210998, + 54.1349109936343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1748.841354445374, + -1633.2147341210998, + 54.1349109936343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1751.841354445374, + -1633.2147341210998, + 54.1349109936343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1754.841354445374, + -1633.2147341210998, + 54.1349109936343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1757.841354445374, + -1633.2147341210998, + 54.1349109936343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1760.841354445374, + -1633.2147341210998, + 54.1349109936343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1763.841354445374, + -1633.2147341210998, + 54.1349109936343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1766.841354445374, + -1633.2147341210998, + 54.1349109936343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1769.841354445374, + -1633.2147341210998, + 54.1349109936343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1772.841354445374, + -1633.2147341210998, + 54.1349109936343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1775.841354445374, + -1633.2147341210998, + 54.1349109936343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1778.841354445374, + -1633.2147341210998, + 54.1349109936343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1781.841354445374, + -1633.2147341210998, + 54.1349109936343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1784.841354445374, + -1633.2147341210998, + 54.1349109936343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1787.841354445374, + -1633.2147341210998, + 54.1349109936343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1790.841354445374, + -1633.2147341210998, + 54.1349109936343 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1790.841354445374, + -1633.2147341210998, + 54.1349109936343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1793.4394306567274, + -1631.7147341210998, + 54.1349109936343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1796.0375068680808, + -1630.2147341210998, + 54.1349109936343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1798.6355830794341, + -1628.7147341210998, + 54.1349109936343 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1852.0, + -1624.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-55-59_1312313043/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-55-59_1312313043/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8c740029e5e7e9410cd49b46953acd3e70e4e96c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-55-59_1312313043/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1623.8541378692087, + 500.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1620.8541378692087, + 500.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1617.8541378692087, + 500.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1614.8541378692087, + 500.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1611.8541378692087, + 500.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1608.8541378692087, + 500.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1605.8541378692087, + 500.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1602.8541378692087, + 500.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1599.8541378692087, + 500.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1596.8541378692087, + 500.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1593.8541378692087, + 500.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1590.8541378692087, + 500.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1587.8541378692087, + 500.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1584.8541378692087, + 500.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1581.8541378692087, + 500.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1578.8541378692087, + 500.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1575.8541378692087, + 500.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1572.8541378692087, + 500.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1569.8541378692087, + 500.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1566.8541378692087, + 500.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1563.8541378692087, + 500.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1560.8541378692087, + 500.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1557.8541378692087, + 500.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1554.8541378692087, + 500.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1551.8541378692087, + 500.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1548.8541378692087, + 500.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1545.8541378692087, + 500.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1542.8541378692087, + 500.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1539.8541378692087, + 500.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1536.8541378692087, + 500.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1533.8541378692087, + 500.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1530.8541378692087, + 500.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1527.8541378692087, + 500.2409377537524, + 65.75479056297311 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1527.8541378692087, + 500.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1525.2560616578553, + 501.7409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1522.657985446502, + 503.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1520.0599092351486, + 504.7409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1517.4618330237952, + 506.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1514.8637568124418, + 507.7409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1512.2656806010884, + 509.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1509.667604389735, + 510.7409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1507.0695281783817, + 512.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1504.4714519670283, + 513.7409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1501.873375755675, + 515.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1499.2752995443216, + 516.7409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1496.6772233329682, + 518.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1494.0791471216148, + 519.7409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1491.4810709102615, + 521.2409377537524, + 65.75479056297311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1488.882994698908, + 522.7409377537524, + 65.75479056297311 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1460.0, + 528.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-10-36_1970034225/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-10-36_1970034225/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..61b81d46f8b672da988097038b226afbe3787af6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-10-36_1970034225/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 916.3922827373931, + -1526.3072349547654, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 916.3922827373931, + -1529.3072349547654, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 916.3922827373931, + -1532.3072349547654, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 916.3922827373931, + -1535.3072349547654, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 916.3922827373931, + -1538.3072349547654, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 916.3922827373931, + -1541.3072349547654, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 916.3922827373931, + -1544.3072349547654, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 916.3922827373931, + -1547.3072349547654, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 916.3922827373931, + -1550.3072349547654, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 916.3922827373931, + -1553.3072349547654, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 916.3922827373931, + -1556.3072349547654, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 916.3922827373931, + -1559.3072349547654, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 916.3922827373931, + -1562.3072349547654, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 916.3922827373931, + -1565.3072349547654, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 916.3922827373931, + -1568.3072349547654, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 916.3922827373931, + -1571.3072349547654, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 916.3922827373931, + -1574.3072349547654, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 916.3922827373931, + -1577.3072349547654, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 916.3922827373931, + -1580.3072349547654, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 916.3922827373931, + -1583.3072349547654, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 916.3922827373931, + -1586.3072349547654, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 916.3922827373931, + -1589.3072349547654, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 916.3922827373931, + -1592.3072349547654, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 916.3922827373931, + -1595.3072349547654, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 916.3922827373931, + -1598.3072349547654, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 916.3922827373931, + -1601.3072349547654, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 916.3922827373931, + -1604.3072349547654, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 916.3922827373931, + -1607.3072349547654, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 916.3922827373931, + -1610.3072349547654, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 916.3922827373931, + -1613.3072349547654, + 40.65445632810503 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 916.3922827373931, + -1613.3072349547654, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 914.8922827373931, + -1615.9053111661187, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 913.3922827373931, + -1618.503387377472, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 911.8922827373931, + -1621.1014635888255, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 910.3922827373931, + -1623.6995398001789, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 908.8922827373931, + -1626.2976160115322, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 907.3922827373931, + -1628.8956922228856, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 905.8922827373931, + -1631.493768434239, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 904.3922827373931, + -1634.0918446455923, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 902.8922827373931, + -1636.6899208569457, + 40.65445632810503 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 902.8922827373931, + -1636.6899208569457, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 902.8922827373931, + -1639.6899208569457, + 40.65445632810503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 902.8922827373931, + -1642.6899208569457, + 40.65445632810503 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 896.0, + -1688.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-21-33_831220360/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-21-33_831220360/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c77df03b98d88fbe2a778b40f7f40d85677b9c51 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-21-33_831220360/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1697.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1694.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1691.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1688.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1685.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1682.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1679.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1676.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1673.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1670.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1667.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1664.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1661.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1658.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1655.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1652.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1649.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1646.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1643.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1640.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1637.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1634.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1631.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1628.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1625.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1622.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1619.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1616.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1613.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1610.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1607.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1604.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1601.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1598.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1595.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1592.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1589.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1586.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1583.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1580.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1577.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1574.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1571.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1568.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1565.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1562.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1559.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1556.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1553.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1553.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1553.484986996442, + -148.66947985175966, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1551.984986996442, + -151.26755606311298, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1550.484986996442, + -153.8656322744663, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1548.984986996442, + -156.4637084858196, + 49.78718859041249 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1548.984986996442, + -156.4637084858196, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1546.3869107850887, + -157.9637084858196, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1543.7888345737354, + -159.4637084858196, + 49.78718859041249 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1541.190758362382, + -160.9637084858196, + 49.78718859041249 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.0, + -164.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-52-26_1045552368/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-52-26_1045552368/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9a70a2b0adef124f25a77c071eaaa53dee154907 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-52-26_1045552368/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1733.2548598636856, + -967.5122216608136, + 68.43224542053198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1735.852936075039, + -966.0122216608136, + 68.43224542053198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1738.4510122863924, + -964.5122216608136, + 68.43224542053198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1741.0490884977457, + -963.0122216608136, + 68.43224542053198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1743.6471647090991, + -961.5122216608136, + 68.43224542053198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1746.2452409204525, + -960.0122216608136, + 68.43224542053198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1748.8433171318059, + -958.5122216608136, + 68.43224542053198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1751.4413933431592, + -957.0122216608136, + 68.43224542053198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1754.0394695545126, + -955.5122216608136, + 68.43224542053198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1756.637545765866, + -954.0122216608136, + 68.43224542053198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1759.2356219772194, + -952.5122216608136, + 68.43224542053198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1761.8336981885727, + -951.0122216608136, + 68.43224542053198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1764.431774399926, + -949.5122216608136, + 68.43224542053198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1767.0298506112795, + -948.0122216608136, + 68.43224542053198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1769.6279268226328, + -946.5122216608136, + 68.43224542053198 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1769.6279268226328, + -946.5122216608136, + 68.43224542053198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1771.1279268226328, + -943.9141454494602, + 68.43224542053198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1772.6279268226328, + -941.3160692381068, + 68.43224542053198 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1872.0, + -872.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-53-4_1661084821/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-53-4_1661084821/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..34708daa035fcb07871b8d3c0f7cfafc8ce1f7e4 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-53-4_1661084821/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1070.3048970821078, + -1272.969139941688, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1071.8048970821078, + -1275.5672161530413, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1073.3048970821078, + -1278.1652923643946, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1074.8048970821078, + -1280.763368575748, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1076.3048970821078, + -1283.3614447871014, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1077.8048970821078, + -1285.9595209984548, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1079.3048970821078, + -1288.5575972098081, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1080.8048970821078, + -1291.1556734211615, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1082.3048970821078, + -1293.7537496325149, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1083.8048970821078, + -1296.3518258438683, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1085.3048970821078, + -1298.9499020552216, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1086.8048970821078, + -1301.547978266575, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1088.3048970821078, + -1304.1460544779284, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1089.8048970821078, + -1306.7441306892817, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1091.3048970821078, + -1309.3422069006351, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1092.8048970821078, + -1311.9402831119885, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1094.3048970821078, + -1314.5383593233419, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1095.8048970821078, + -1317.1364355346952, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1097.3048970821078, + -1319.7345117460486, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1098.8048970821078, + -1322.332587957402, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1100.3048970821078, + -1324.9306641687554, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1101.8048970821078, + -1327.5287403801087, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1103.3048970821078, + -1330.126816591462, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1104.8048970821078, + -1332.7248928028155, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1106.3048970821078, + -1335.3229690141688, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1107.8048970821078, + -1337.9210452255222, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1109.3048970821078, + -1340.5191214368756, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1110.8048970821078, + -1343.117197648229, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1112.3048970821078, + -1345.7152738595823, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1113.8048970821078, + -1348.3133500709357, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1115.3048970821078, + -1350.911426282289, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1116.8048970821078, + -1353.5095024936425, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1118.3048970821078, + -1356.1075787049958, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1119.8048970821078, + -1358.7056549163492, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1121.3048970821078, + -1361.3037311277026, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1122.8048970821078, + -1363.901807339056, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1124.3048970821078, + -1366.4998835504093, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1125.8048970821078, + -1369.0979597617627, + 65.13437072579846 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1125.8048970821078, + -1369.0979597617627, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1125.8048970821078, + -1372.0979597617627, + 65.13437072579846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1125.8048970821078, + -1375.0979597617627, + 65.13437072579846 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1152.0, + -1424.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-1-49_1443155027/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-1-49_1443155027/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d3fe68e79fba087de9c6c03a3b3aa8ecbeafe3ba --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-1-49_1443155027/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1506.2150926441443, + -430.0521950360419, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1504.7150926441443, + -432.6502712473952, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1503.2150926441443, + -435.2483474587485, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1501.7150926441443, + -437.84642367010184, + 59.531080908472404 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1501.7150926441443, + -437.84642367010184, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1499.117016432791, + -439.34642367010184, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1496.5189402214376, + -440.84642367010184, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1493.9208640100842, + -442.34642367010184, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1491.3227877987308, + -443.84642367010184, + 59.531080908472404 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1491.3227877987308, + -443.84642367010184, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1489.8227877987308, + -446.44449988145516, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1488.3227877987308, + -449.0425760928085, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1486.8227877987308, + -451.6406523041618, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1485.3227877987308, + -454.2387285155151, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1483.8227877987308, + -456.8368047268684, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1482.3227877987308, + -459.43488093822174, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1480.8227877987308, + -462.03295714957505, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1479.3227877987308, + -464.63103336092837, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1477.8227877987308, + -467.2291095722817, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1476.3227877987308, + -469.827185783635, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1474.8227877987308, + -472.4252619949883, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1473.3227877987308, + -475.02333820634163, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1471.8227877987308, + -477.62141441769495, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1470.3227877987308, + -480.21949062904827, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1468.8227877987308, + -482.8175668404016, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1467.3227877987308, + -485.4156430517549, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1465.8227877987308, + -488.0137192631082, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1464.3227877987308, + -490.61179547446153, + 59.531080908472404 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1464.3227877987308, + -490.61179547446153, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1464.3227877987308, + -493.61179547446153, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1464.3227877987308, + -496.61179547446153, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1464.3227877987308, + -499.61179547446153, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1464.3227877987308, + -502.61179547446153, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1464.3227877987308, + -505.61179547446153, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1464.3227877987308, + -508.61179547446153, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1464.3227877987308, + -511.61179547446153, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1464.3227877987308, + -514.6117954744616, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1464.3227877987308, + -517.6117954744616, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1464.3227877987308, + -520.6117954744616, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1464.3227877987308, + -523.6117954744616, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1464.3227877987308, + -526.6117954744616, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1464.3227877987308, + -529.6117954744616, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1464.3227877987308, + -532.6117954744616, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1464.3227877987308, + -535.6117954744616, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1464.3227877987308, + -538.6117954744616, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1464.3227877987308, + -541.6117954744616, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1464.3227877987308, + -544.6117954744616, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1464.3227877987308, + -547.6117954744616, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1464.3227877987308, + -550.6117954744616, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1464.3227877987308, + -553.6117954744616, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1464.3227877987308, + -556.6117954744616, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1464.3227877987308, + -559.6117954744616, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1464.3227877987308, + -562.6117954744616, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1464.3227877987308, + -565.6117954744616, + 59.531080908472404 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1464.3227877987308, + -568.6117954744616, + 59.531080908472404 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1456.0, + -592.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-19-18_1336189196/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-19-18_1336189196/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5d32daf1f15d6f48882df53372bfb0936d6ba9f0 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-19-18_1336189196/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 645.1889310618141, + 1751.4773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 648.1889310618141, + 1751.4773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 651.1889310618141, + 1751.4773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 654.1889310618141, + 1751.4773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 657.1889310618141, + 1751.4773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 660.1889310618141, + 1751.4773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 663.1889310618141, + 1751.4773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 666.1889310618141, + 1751.4773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 669.1889310618141, + 1751.4773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 672.1889310618141, + 1751.4773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 675.1889310618141, + 1751.4773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 678.1889310618141, + 1751.4773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 681.1889310618141, + 1751.4773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 684.1889310618141, + 1751.4773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 687.1889310618141, + 1751.4773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 690.1889310618141, + 1751.4773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 693.1889310618141, + 1751.4773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 696.1889310618141, + 1751.4773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 699.1889310618141, + 1751.4773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 702.1889310618141, + 1751.4773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 705.1889310618141, + 1751.4773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 708.1889310618141, + 1751.4773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 711.1889310618141, + 1751.4773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 714.1889310618141, + 1751.4773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 717.1889310618141, + 1751.4773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 720.1889310618141, + 1751.4773465256858, + 55.36631105062079 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 720.1889310618141, + 1751.4773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 722.7870072731673, + 1752.9773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 725.3850834845207, + 1754.4773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 727.9831596958741, + 1755.9773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 730.5812359072274, + 1757.4773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 733.1793121185808, + 1758.9773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 735.7773883299342, + 1760.4773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 738.3754645412876, + 1761.9773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 740.9735407526409, + 1763.4773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 743.5716169639943, + 1764.9773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 746.1696931753477, + 1766.4773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 748.767769386701, + 1767.9773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 751.3658455980544, + 1769.4773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 753.9639218094078, + 1770.9773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 756.5619980207612, + 1772.4773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 759.1600742321145, + 1773.9773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 761.7581504434679, + 1775.4773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 764.3562266548213, + 1776.9773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 766.9543028661747, + 1778.4773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 769.552379077528, + 1779.9773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 772.1504552888814, + 1781.4773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 774.7485315002348, + 1782.9773465256858, + 55.36631105062079 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 777.3466077115881, + 1784.4773465256858, + 55.36631105062079 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 800.0, + 1792.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-2-49_1671067660/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-2-49_1671067660/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..615cc89202e86d922a82377b15dde175c8138642 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-2-49_1671067660/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1724.654327051172, + -187.309508320472, + 57.990707325483626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1726.154327051172, + -184.71143210911868, + 57.990707325483626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1727.654327051172, + -182.11335589776536, + 57.990707325483626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1729.154327051172, + -179.51527968641204, + 57.990707325483626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1730.654327051172, + -176.91720347505873, + 57.990707325483626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1732.154327051172, + -174.3191272637054, + 57.990707325483626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1733.654327051172, + -171.7210510523521, + 57.990707325483626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1735.154327051172, + -169.12297484099878, + 57.990707325483626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1736.654327051172, + -166.52489862964546, + 57.990707325483626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1738.154327051172, + -163.92682241829215, + 57.990707325483626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1739.654327051172, + -161.32874620693883, + 57.990707325483626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1741.154327051172, + -158.73066999558552, + 57.990707325483626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1742.654327051172, + -156.1325937842322, + 57.990707325483626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1744.154327051172, + -153.53451757287888, + 57.990707325483626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1745.654327051172, + -150.93644136152557, + 57.990707325483626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1747.154327051172, + -148.33836515017225, + 57.990707325483626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1748.654327051172, + -145.74028893881894, + 57.990707325483626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1750.154327051172, + -143.14221272746562, + 57.990707325483626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1751.654327051172, + -140.5441365161123, + 57.990707325483626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1753.154327051172, + -137.946060304759, + 57.990707325483626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1754.654327051172, + -135.34798409340567, + 57.990707325483626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1756.154327051172, + -132.74990788205236, + 57.990707325483626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1757.654327051172, + -130.15183167069904, + 57.990707325483626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1759.154327051172, + -127.55375545934572, + 57.990707325483626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1760.654327051172, + -124.9556792479924, + 57.990707325483626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1762.154327051172, + -122.35760303663909, + 57.990707325483626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1763.654327051172, + -119.75952682528577, + 57.990707325483626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1765.154327051172, + -117.16145061393246, + 57.990707325483626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1766.654327051172, + -114.56337440257914, + 57.990707325483626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1768.154327051172, + -111.96529819122583, + 57.990707325483626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1769.654327051172, + -109.36722197987251, + 57.990707325483626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1771.154327051172, + -106.7691457685192, + 57.990707325483626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1772.654327051172, + -104.17106955716588, + 57.990707325483626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1774.154327051172, + -101.57299334581256, + 57.990707325483626 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1774.154327051172, + -101.57299334581256, + 57.990707325483626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1776.7524032625254, + -100.07299334581256, + 57.990707325483626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1779.3504794738787, + -98.57299334581256, + 57.990707325483626 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1804.0, + -60.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-21-43_842198392/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-21-43_842198392/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6ae42dcd79c5d7eff0f699882b9958cf16d92567 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-21-43_842198392/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 863.159824781397, + -763.8873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 865.7579009927504, + -765.3873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 868.3559772041037, + -766.8873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 870.9540534154571, + -768.3873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 873.5521296268105, + -769.8873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 876.1502058381639, + -771.3873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 878.7482820495172, + -772.8873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 881.3463582608706, + -774.3873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 883.944434472224, + -775.8873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 886.5425106835773, + -777.3873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 889.1405868949307, + -778.8873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 891.7386631062841, + -780.3873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 894.3367393176375, + -781.8873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 896.9348155289908, + -783.3873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 899.5328917403442, + -784.8873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 902.1309679516976, + -786.3873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 904.729044163051, + -787.8873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 907.3271203744043, + -789.3873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 909.9251965857577, + -790.8873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 912.5232727971111, + -792.3873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 915.1213490084644, + -793.8873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 917.7194252198178, + -795.3873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 920.3175014311712, + -796.8873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 922.9155776425246, + -798.3873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 925.5136538538779, + -799.8873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 928.1117300652313, + -801.3873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 930.7098062765847, + -802.8873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 933.3078824879381, + -804.3873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 935.9059586992914, + -805.8873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 938.5040349106448, + -807.3873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 941.1021111219982, + -808.8873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 943.7001873333516, + -810.3873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 946.2982635447049, + -811.8873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 948.8963397560583, + -813.3873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 951.4944159674117, + -814.8873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 954.092492178765, + -816.3873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 956.6905683901184, + -817.8873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 959.2886446014718, + -819.3873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 961.8867208128252, + -820.8873793142413, + 41.0563375954136 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 961.8867208128252, + -820.8873793142413, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 963.3867208128252, + -823.4854555255947, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 964.8867208128252, + -826.0835317369481, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 966.3867208128252, + -828.6816079483015, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 967.8867208128252, + -831.2796841596548, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 969.3867208128252, + -833.8777603710082, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 970.8867208128252, + -836.4758365823616, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 972.3867208128252, + -839.073912793715, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 973.8867208128252, + -841.6719890050683, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 975.3867208128252, + -844.2700652164217, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 976.8867208128252, + -846.8681414277751, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 978.3867208128252, + -849.4662176391284, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 979.8867208128252, + -852.0642938504818, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 981.3867208128252, + -854.6623700618352, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 982.8867208128252, + -857.2604462731886, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 984.3867208128252, + -859.8585224845419, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 985.8867208128252, + -862.4565986958953, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 987.3867208128252, + -865.0546749072487, + 41.0563375954136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 988.8867208128252, + -867.652751118602, + 41.0563375954136 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1000.0, + -876.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-1-20_116903580/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-1-20_116903580/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..82a62c4df26f796a4a11774447b225ab544809a5 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-1-20_116903580/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1095.887495147463, + -748.2731580191492, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1098.887495147463, + -748.2731580191492, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1101.887495147463, + -748.2731580191492, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1104.887495147463, + -748.2731580191492, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1107.887495147463, + -748.2731580191492, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1110.887495147463, + -748.2731580191492, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1113.887495147463, + -748.2731580191492, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1116.887495147463, + -748.2731580191492, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1119.887495147463, + -748.2731580191492, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1122.887495147463, + -748.2731580191492, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1125.887495147463, + -748.2731580191492, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1128.887495147463, + -748.2731580191492, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1131.887495147463, + -748.2731580191492, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1134.887495147463, + -748.2731580191492, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1137.887495147463, + -748.2731580191492, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1140.887495147463, + -748.2731580191492, + 44.34020383225472 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1140.887495147463, + -748.2731580191492, + 44.34020383225472 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1140.887495147463, + -748.2731580191492, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1142.387495147463, + -750.8712342305025, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1143.887495147463, + -753.4693104418559, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1145.387495147463, + -756.0673866532093, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1146.887495147463, + -758.6654628645626, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1148.387495147463, + -761.263539075916, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1149.887495147463, + -763.8616152872694, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1151.387495147463, + -766.4596914986228, + 44.34020383225472 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1151.387495147463, + -766.4596914986228, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1153.9855713588163, + -767.9596914986228, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1156.5836475701697, + -769.4596914986228, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1159.181723781523, + -770.9596914986228, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1161.7797999928764, + -772.4596914986228, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1164.3778762042298, + -773.9596914986228, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1166.9759524155832, + -775.4596914986228, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1169.5740286269365, + -776.9596914986228, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1172.17210483829, + -778.4596914986228, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1174.7701810496433, + -779.9596914986228, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1177.3682572609966, + -781.4596914986228, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1179.96633347235, + -782.9596914986228, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1182.5644096837034, + -784.4596914986228, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1185.1624858950568, + -785.9596914986228, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1187.7605621064101, + -787.4596914986228, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1190.3586383177635, + -788.9596914986228, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1192.9567145291169, + -790.4596914986228, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1195.5547907404703, + -791.9596914986228, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1198.1528669518236, + -793.4596914986228, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1200.750943163177, + -794.9596914986228, + 44.34020383225472 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1203.3490193745304, + -796.4596914986228, + 44.34020383225472 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1244.0, + -816.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-10-58_460362196/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-10-58_460362196/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f724040233bcb032c285cd4f1f18846d8a557b0c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-10-58_460362196/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1617.5109785909258, + 801.8913471236824, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1617.5109785909258, + 804.8913471236824, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1617.5109785909258, + 807.8913471236824, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1617.5109785909258, + 810.8913471236824, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1617.5109785909258, + 813.8913471236824, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1617.5109785909258, + 816.8913471236824, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1617.5109785909258, + 819.8913471236824, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1617.5109785909258, + 822.8913471236824, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1617.5109785909258, + 825.8913471236824, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1617.5109785909258, + 828.8913471236824, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1617.5109785909258, + 831.8913471236824, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1617.5109785909258, + 834.8913471236824, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1617.5109785909258, + 837.8913471236824, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1617.5109785909258, + 840.8913471236824, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1617.5109785909258, + 843.8913471236824, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1617.5109785909258, + 846.8913471236824, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1617.5109785909258, + 849.8913471236824, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1617.5109785909258, + 852.8913471236824, + 46.422984893475125 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1617.5109785909258, + 852.8913471236824, + 46.422984893475125 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1617.5109785909258, + 852.8913471236824, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1620.1090548022792, + 854.3913471236824, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1622.7071310136325, + 855.8913471236824, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1625.305207224986, + 857.3913471236824, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1627.9032834363393, + 858.8913471236824, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1630.5013596476927, + 860.3913471236824, + 46.422984893475125 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1630.5013596476927, + 860.3913471236824, + 46.422984893475125 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1630.5013596476927, + 860.3913471236824, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.570796326794906 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1630.5013596476927, + 863.3913471236824, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1630.5013596476927, + 866.3913471236824, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1630.5013596476927, + 869.3913471236824, + 46.422984893475125 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1630.5013596476927, + 869.3913471236824, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1632.0013596476927, + 871.9894233350358, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1633.5013596476927, + 874.5874995463892, + 46.422984893475125 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1633.5013596476927, + 874.5874995463892, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1633.5013596476927, + 877.5874995463892, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1633.5013596476927, + 880.5874995463892, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1633.5013596476927, + 883.5874995463892, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1633.5013596476927, + 886.5874995463892, + 46.422984893475125 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1633.5013596476927, + 886.5874995463892, + 46.422984893475125 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1633.5013596476927, + 886.5874995463892, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1630.9032834363393, + 888.0874995463892, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1628.305207224986, + 889.5874995463892, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1625.7071310136325, + 891.0874995463892, + 46.422984893475125 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1625.7071310136325, + 891.0874995463892, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1624.2071310136325, + 893.6855757577425, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1622.7071310136325, + 896.2836519690959, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1621.2071310136325, + 898.8817281804493, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1619.7071310136325, + 901.4798043918026, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1618.2071310136325, + 904.077880603156, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1616.7071310136325, + 906.6759568145094, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1615.2071310136325, + 909.2740330258628, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1613.7071310136325, + 911.8721092372161, + 46.422984893475125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1612.2071310136325, + 914.4701854485695, + 46.422984893475125 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1612.0, + 952.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-14-48_1847344718/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-14-48_1847344718/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c00dfb0bfd358272e03572a9e7113715d76b3df8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-14-48_1847344718/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1304.4381794627916, + -826.5067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1307.036255674145, + -825.0067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1309.6343318854983, + -823.5067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1312.2324080968517, + -822.0067423178182, + 69.83655656432622 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1312.2324080968517, + -822.0067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1315.2324080968517, + -822.0067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1318.2324080968517, + -822.0067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1321.2324080968517, + -822.0067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1324.2324080968517, + -822.0067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1327.2324080968517, + -822.0067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1330.2324080968517, + -822.0067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1333.2324080968517, + -822.0067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1336.2324080968517, + -822.0067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1339.2324080968517, + -822.0067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1342.2324080968517, + -822.0067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1345.2324080968517, + -822.0067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1348.2324080968517, + -822.0067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1351.2324080968517, + -822.0067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1354.2324080968517, + -822.0067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1357.2324080968517, + -822.0067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1360.2324080968517, + -822.0067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1363.2324080968517, + -822.0067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1366.2324080968517, + -822.0067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1369.2324080968517, + -822.0067423178182, + 69.83655656432622 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1369.2324080968517, + -822.0067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1371.830484308205, + -820.5067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1374.4285605195585, + -819.0067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1377.0266367309118, + -817.5067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1379.6247129422652, + -816.0067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1382.2227891536186, + -814.5067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1384.820865364972, + -813.0067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1387.4189415763253, + -811.5067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1390.0170177876787, + -810.0067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1392.615093999032, + -808.5067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1395.2131702103854, + -807.0067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1397.8112464217388, + -805.5067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1400.4093226330922, + -804.0067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1403.0073988444456, + -802.5067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1405.605475055799, + -801.0067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1408.2035512671523, + -799.5067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1410.8016274785057, + -798.0067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1413.399703689859, + -796.5067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1415.9977799012124, + -795.0067423178182, + 69.83655656432622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1418.5958561125658, + -793.5067423178182, + 69.83655656432622 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1476.0, + -776.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-26-51_1550692118/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-26-51_1550692118/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c91af56920d68ca728bf100dd0be9e43337e09de --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-26-51_1550692118/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 520.7250141944739, + -1782.039554987145, + 49.3018246542652 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 523.7250141944739, + -1782.039554987145, + 49.3018246542652 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 526.7250141944739, + -1782.039554987145, + 49.3018246542652 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 529.7250141944739, + -1782.039554987145, + 49.3018246542652 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 529.7250141944739, + -1782.039554987145, + 49.3018246542652 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 532.3230904058273, + -1783.539554987145, + 49.3018246542652 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 534.9211666171807, + -1785.039554987145, + 49.3018246542652 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 537.5192428285341, + -1786.539554987145, + 49.3018246542652 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 540.1173190398874, + -1788.039554987145, + 49.3018246542652 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 542.7153952512408, + -1789.539554987145, + 49.3018246542652 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 545.3134714625942, + -1791.039554987145, + 49.3018246542652 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 547.9115476739476, + -1792.539554987145, + 49.3018246542652 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 550.5096238853009, + -1794.039554987145, + 49.3018246542652 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 553.1077000966543, + -1795.539554987145, + 49.3018246542652 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 555.7057763080077, + -1797.039554987145, + 49.3018246542652 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 558.303852519361, + -1798.539554987145, + 49.3018246542652 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 560.9019287307144, + -1800.039554987145, + 49.3018246542652 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 680.0, + -1856.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-30-29_1178341976/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-30-29_1178341976/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3a1236a6e2de76fb6a3e4de79b5fcece893a1574 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-30-29_1178341976/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1755.5668231405377, + 163.67964815330964, + 46.99757905674153 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1758.5668231405377, + 163.67964815330964, + 46.99757905674153 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1761.5668231405377, + 163.67964815330964, + 46.99757905674153 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1764.5668231405377, + 163.67964815330964, + 46.99757905674153 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1767.5668231405377, + 163.67964815330964, + 46.99757905674153 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1770.5668231405377, + 163.67964815330964, + 46.99757905674153 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1773.5668231405377, + 163.67964815330964, + 46.99757905674153 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1776.5668231405377, + 163.67964815330964, + 46.99757905674153 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1928.0, + 160.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-34-14_112526508/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-34-14_112526508/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b4d79febd554474a2be5008c6e1a736c74fd73d2 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-34-14_112526508/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 180.75007875975928, + 531.4867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 178.15200254840596, + 532.9867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 175.55392633705264, + 534.4867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 172.95585012569933, + 535.9867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 170.357773914346, + 537.4867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 167.7596977029927, + 538.9867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 165.16162149163938, + 540.4867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 162.56354528028606, + 541.9867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 159.96546906893275, + 543.4867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 157.36739285757943, + 544.9867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 154.76931664622612, + 546.4867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 152.1712404348728, + 547.9867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 149.57316422351948, + 549.4867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 146.97508801216617, + 550.9867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 144.37701180081285, + 552.4867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 141.77893558945954, + 553.9867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 139.18085937810622, + 555.4867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 136.5827831667529, + 556.9867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 133.9847069553996, + 558.4867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 131.38663074404627, + 559.9867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 128.78855453269296, + 561.4867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 126.19047832133964, + 562.9867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 123.59240210998632, + 564.4867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 120.99432589863301, + 565.9867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 118.39624968727969, + 567.4867741573659, + 60.45084866219568 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 118.39624968727969, + 567.4867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 115.39624968727969, + 567.4867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 112.39624968727969, + 567.4867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 109.39624968727969, + 567.4867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 106.39624968727969, + 567.4867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 103.39624968727969, + 567.4867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 100.39624968727969, + 567.4867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 97.39624968727969, + 567.4867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 94.39624968727969, + 567.4867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 91.39624968727969, + 567.4867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 88.39624968727969, + 567.4867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 85.39624968727969, + 567.4867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 82.39624968727969, + 567.4867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 79.39624968727969, + 567.4867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 76.39624968727969, + 567.4867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 73.39624968727969, + 567.4867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 70.39624968727969, + 567.4867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 67.39624968727969, + 567.4867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 64.39624968727969, + 567.4867741573659, + 60.45084866219568 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 61.39624968727969, + 567.4867741573659, + 60.45084866219568 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.0, + 576.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-50-18_1273207249/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-50-18_1273207249/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f322139fe3077d448c9cc35622502a59e333b5ad --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-50-18_1273207249/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 832.0390788157625, + 1683.222732675791, + 67.55814587561912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 834.6371550271158, + 1684.722732675791, + 67.55814587561912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 837.2352312384692, + 1686.222732675791, + 67.55814587561912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 839.8333074498225, + 1687.722732675791, + 67.55814587561912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 842.4313836611759, + 1689.222732675791, + 67.55814587561912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 845.0294598725293, + 1690.722732675791, + 67.55814587561912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 847.6275360838827, + 1692.222732675791, + 67.55814587561912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 850.225612295236, + 1693.722732675791, + 67.55814587561912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 852.8236885065894, + 1695.222732675791, + 67.55814587561912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 855.4217647179428, + 1696.722732675791, + 67.55814587561912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 858.0198409292962, + 1698.222732675791, + 67.55814587561912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 860.6179171406495, + 1699.722732675791, + 67.55814587561912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 863.2159933520029, + 1701.222732675791, + 67.55814587561912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 865.8140695633563, + 1702.722732675791, + 67.55814587561912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 868.4121457747096, + 1704.222732675791, + 67.55814587561912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 871.010221986063, + 1705.722732675791, + 67.55814587561912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 873.6082981974164, + 1707.222732675791, + 67.55814587561912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 876.2063744087698, + 1708.722732675791, + 67.55814587561912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 878.8044506201231, + 1710.222732675791, + 67.55814587561912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 881.4025268314765, + 1711.722732675791, + 67.55814587561912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 884.0006030428299, + 1713.222732675791, + 67.55814587561912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 886.5986792541833, + 1714.722732675791, + 67.55814587561912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 889.1967554655366, + 1716.222732675791, + 67.55814587561912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 891.79483167689, + 1717.722732675791, + 67.55814587561912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 894.3929078882434, + 1719.222732675791, + 67.55814587561912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 896.9909840995967, + 1720.722732675791, + 67.55814587561912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 899.5890603109501, + 1722.222732675791, + 67.55814587561912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 902.1871365223035, + 1723.722732675791, + 67.55814587561912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 904.7852127336569, + 1725.222732675791, + 67.55814587561912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 907.3832889450102, + 1726.722732675791, + 67.55814587561912 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 907.3832889450102, + 1726.722732675791, + 67.55814587561912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 908.8832889450102, + 1729.3208088871443, + 67.55814587561912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 910.3832889450102, + 1731.9188850984976, + 67.55814587561912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 911.8832889450102, + 1734.516961309851, + 67.55814587561912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 913.3832889450102, + 1737.1150375212044, + 67.55814587561912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 914.8832889450102, + 1739.7131137325578, + 67.55814587561912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 916.3832889450102, + 1742.3111899439111, + 67.55814587561912 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 916.3832889450102, + 1742.3111899439111, + 67.55814587561912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 918.9813651563636, + 1743.8111899439111, + 67.55814587561912 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983084 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 960.0, + 1772.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-3-41_1846162289/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-3-41_1846162289/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..13fa7a476c690ecd35ca0a9a181dcac4835ff285 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-3-41_1846162289/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1270.5269994997948, + -207.5147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1273.1250757111482, + -206.0147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1275.7231519225015, + -204.5147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1278.321228133855, + -203.0147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1280.9193043452083, + -201.5147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1283.5173805565616, + -200.0147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1286.115456767915, + -198.5147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1288.7135329792684, + -197.0147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1291.3116091906218, + -195.5147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1293.9096854019751, + -194.0147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1296.5077616133285, + -192.5147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1299.1058378246819, + -191.0147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1301.7039140360353, + -189.5147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1304.3019902473886, + -188.0147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1306.900066458742, + -186.5147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1309.4981426700954, + -185.0147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1312.0962188814487, + -183.5147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1314.6942950928021, + -182.0147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1317.2923713041555, + -180.5147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1319.8904475155089, + -179.0147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1322.4885237268622, + -177.5147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1325.0865999382156, + -176.0147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1327.684676149569, + -174.5147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1330.2827523609224, + -173.0147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1332.8808285722757, + -171.5147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1335.478904783629, + -170.0147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1338.0769809949825, + -168.5147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1340.6750572063359, + -167.0147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1343.2731334176892, + -165.5147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1345.8712096290426, + -164.0147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1348.469285840396, + -162.5147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1351.0673620517493, + -161.0147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1353.6654382631027, + -159.5147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1356.263514474456, + -158.0147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1358.8615906858095, + -156.5147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1361.4596668971628, + -155.0147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1364.0577431085162, + -153.5147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1366.6558193198696, + -152.0147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1369.253895531223, + -150.5147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1371.8519717425763, + -149.0147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1374.4500479539297, + -147.5147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1377.048124165283, + -146.0147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1379.6462003766364, + -144.5147106110146, + 49.057436848327775 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1379.6462003766364, + -144.5147106110146, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1381.1462003766364, + -141.9166343996613, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1382.6462003766364, + -139.31855818830797, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1384.1462003766364, + -136.72048197695466, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1385.6462003766364, + -134.12240576560134, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1387.1462003766364, + -131.52432955424803, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1388.6462003766364, + -128.9262533428947, + 49.057436848327775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1390.1462003766364, + -126.3281771315414, + 49.057436848327775 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1420.0, + -108.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-42-37_304133130/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-42-37_304133130/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8fb75fbcda42426a68f882a09161de35468b173d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-42-37_304133130/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -89.04733220292707, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -86.04733220292707, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -83.04733220292707, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -80.04733220292707, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -77.04733220292707, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -74.04733220292707, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -71.04733220292707, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -68.04733220292707, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -65.04733220292707, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -62.047332202927066, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -59.047332202927066, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -56.047332202927066, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -53.047332202927066, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -50.047332202927066, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -47.047332202927066, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -44.047332202927066, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -41.047332202927066, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -38.047332202927066, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -35.047332202927066, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -32.047332202927066, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -29.047332202927066, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -26.047332202927066, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -23.047332202927066, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -20.047332202927066, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -17.047332202927066, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -14.047332202927066, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -11.047332202927066, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -8.047332202927066, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -5.047332202927066, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2.047332202927066, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 0.9526677970729338, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3.952667797072934, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 6.952667797072934, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 9.952667797072934, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 12.952667797072934, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 15.952667797072934, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 18.952667797072934, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 21.952667797072934, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 24.952667797072934, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 27.952667797072934, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 30.952667797072934, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 33.952667797072934, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 36.952667797072934, + 773.841711669819, + 67.85525999527252 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 36.952667797072934, + 773.841711669819, + 67.85525999527252 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 36.952667797072934, + 773.841711669819, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 38.452667797072934, + 776.4397878811724, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 39.952667797072934, + 779.0378640925258, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 41.452667797072934, + 781.6359403038791, + 67.85525999527252 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 41.452667797072934, + 781.6359403038791, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 44.05074400842625, + 783.1359403038791, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 46.648820219779566, + 784.6359403038791, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 49.24689643113288, + 786.1359403038791, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 51.8449726424862, + 787.6359403038791, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 54.443048853839514, + 789.1359403038791, + 67.85525999527252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 57.04112506519283, + 790.6359403038791, + 67.85525999527252 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 84.0, + 796.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-11-46_2004270296/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-11-46_2004270296/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ee4f4ebe6ffd51065f6859014e2bc3ccf1faad16 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-11-46_2004270296/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 780.4998115189685, + -1537.6435382651403, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 781.9998115189685, + -1535.0454620537869, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 783.4998115189685, + -1532.4473858424335, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 784.9998115189685, + -1529.8493096310801, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 786.4998115189685, + -1527.2512334197268, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 787.9998115189685, + -1524.6531572083734, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 789.4998115189685, + -1522.05508099702, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 790.9998115189685, + -1519.4570047856666, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 792.4998115189685, + -1516.8589285743133, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 793.9998115189685, + -1514.26085236296, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 795.4998115189685, + -1511.6627761516065, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 796.9998115189685, + -1509.0646999402531, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 798.4998115189685, + -1506.4666237288998, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 799.9998115189685, + -1503.8685475175464, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 801.4998115189685, + -1501.270471306193, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 802.9998115189685, + -1498.6723950948397, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 804.4998115189685, + -1496.0743188834863, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 805.9998115189685, + -1493.476242672133, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 807.4998115189685, + -1490.8781664607795, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 808.9998115189685, + -1488.2800902494262, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 810.4998115189685, + -1485.6820140380728, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 811.9998115189685, + -1483.0839378267194, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 813.4998115189685, + -1480.485861615366, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 814.9998115189685, + -1477.8877854040127, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 816.4998115189685, + -1475.2897091926593, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 817.9998115189685, + -1472.691632981306, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 819.4998115189685, + -1470.0935567699526, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 820.9998115189685, + -1467.4954805585992, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 822.4998115189685, + -1464.8974043472458, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 823.9998115189685, + -1462.2993281358924, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 825.4998115189685, + -1459.701251924539, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 826.9998115189685, + -1457.1031757131857, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 828.4998115189685, + -1454.5050995018323, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 829.9998115189685, + -1451.907023290479, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 831.4998115189685, + -1449.3089470791256, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 832.9998115189685, + -1446.7108708677722, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 834.4998115189685, + -1444.1127946564188, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 835.9998115189685, + -1441.5147184450655, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 837.4998115189685, + -1438.916642233712, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 838.9998115189685, + -1436.3185660223587, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 840.4998115189685, + -1433.7204898110053, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 841.9998115189685, + -1431.122413599652, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 843.4998115189685, + -1428.5243373882986, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 844.9998115189685, + -1425.9262611769452, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 846.4998115189685, + -1423.3281849655918, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 847.9998115189685, + -1420.7301087542385, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 849.4998115189685, + -1418.132032542885, + 47.20242320980293 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 849.4998115189685, + -1418.132032542885, + 47.20242320980293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 849.4998115189685, + -1415.132032542885, + 47.20242320980293 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267949059 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 860.0, + -1396.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-39-35_1629872743/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-39-35_1629872743/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..362be6dfe2b4aa6622d12a65131c8b8cc2257a6b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-39-35_1629872743/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1032.6601613044295, + -1062.3594859608318, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1035.6601613044295, + -1062.3594859608318, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1038.6601613044295, + -1062.3594859608318, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1041.6601613044295, + -1062.3594859608318, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1044.6601613044295, + -1062.3594859608318, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1047.6601613044295, + -1062.3594859608318, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1050.6601613044295, + -1062.3594859608318, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1053.6601613044295, + -1062.3594859608318, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1056.6601613044295, + -1062.3594859608318, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1059.6601613044295, + -1062.3594859608318, + 54.115554684047304 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1059.6601613044295, + -1062.3594859608318, + 54.115554684047304 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1059.6601613044295, + -1062.3594859608318, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1061.1601613044295, + -1059.7614097494784, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1062.6601613044295, + -1057.163333538125, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1064.1601613044295, + -1054.5652573267716, + 54.115554684047304 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1064.1601613044295, + -1054.5652573267716, + 54.115554684047304 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1064.1601613044295, + -1054.5652573267716, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897833 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1067.1601613044295, + -1054.5652573267716, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1070.1601613044295, + -1054.5652573267716, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1073.1601613044295, + -1054.5652573267716, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1076.1601613044295, + -1054.5652573267716, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1079.1601613044295, + -1054.5652573267716, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1082.1601613044295, + -1054.5652573267716, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1085.1601613044295, + -1054.5652573267716, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1088.1601613044295, + -1054.5652573267716, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1091.1601613044295, + -1054.5652573267716, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1094.1601613044295, + -1054.5652573267716, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1097.1601613044295, + -1054.5652573267716, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1100.1601613044295, + -1054.5652573267716, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1103.1601613044295, + -1054.5652573267716, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1106.1601613044295, + -1054.5652573267716, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1109.1601613044295, + -1054.5652573267716, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1112.1601613044295, + -1054.5652573267716, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1115.1601613044295, + -1054.5652573267716, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1118.1601613044295, + -1054.5652573267716, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1121.1601613044295, + -1054.5652573267716, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1124.1601613044295, + -1054.5652573267716, + 54.115554684047304 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1124.1601613044295, + -1054.5652573267716, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1126.7582375157829, + -1056.0652573267716, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1129.3563137271362, + -1057.5652573267716, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1131.9543899384896, + -1059.0652573267716, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1134.552466149843, + -1060.5652573267716, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1137.1505423611964, + -1062.0652573267716, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1139.7486185725497, + -1063.5652573267716, + 54.115554684047304 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1142.346694783903, + -1065.0652573267716, + 54.115554684047304 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1184.0, + -1068.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-4-18_442366146/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-4-18_442366146/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fa41d431bd4285bcc548a77d83889e8f5e24fe3d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-4-18_442366146/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1751.6054655131265, + 1320.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1751.6054655131265, + 1323.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1751.6054655131265, + 1326.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1751.6054655131265, + 1329.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1751.6054655131265, + 1332.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1751.6054655131265, + 1335.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1751.6054655131265, + 1338.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1751.6054655131265, + 1341.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1751.6054655131265, + 1344.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1751.6054655131265, + 1347.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1751.6054655131265, + 1350.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1751.6054655131265, + 1353.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1751.6054655131265, + 1356.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1751.6054655131265, + 1359.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1751.6054655131265, + 1362.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1751.6054655131265, + 1365.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1751.6054655131265, + 1368.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1751.6054655131265, + 1371.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1751.6054655131265, + 1374.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1751.6054655131265, + 1377.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1751.6054655131265, + 1380.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1751.6054655131265, + 1383.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1751.6054655131265, + 1386.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1751.6054655131265, + 1389.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1751.6054655131265, + 1392.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1751.6054655131265, + 1395.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1751.6054655131265, + 1398.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1751.6054655131265, + 1401.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1751.6054655131265, + 1404.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1751.6054655131265, + 1407.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1751.6054655131265, + 1410.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1751.6054655131265, + 1413.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1751.6054655131265, + 1416.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1751.6054655131265, + 1419.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1751.6054655131265, + 1422.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1751.6054655131265, + 1425.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1751.6054655131265, + 1428.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1751.6054655131265, + 1431.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1751.6054655131265, + 1434.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1751.6054655131265, + 1437.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1751.6054655131265, + 1440.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1751.6054655131265, + 1443.7700550605462, + 48.18627520827871 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1751.6054655131265, + 1443.7700550605462, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1750.1054655131265, + 1446.3681312718995, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1748.6054655131265, + 1448.966207483253, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1747.1054655131265, + 1451.5642836946063, + 48.18627520827871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1745.6054655131265, + 1454.1623599059596, + 48.18627520827871 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1744.0, + 1484.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-7-29_1539847451/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-7-29_1539847451/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..909a698148efdb89637f673d376b987fc9a2a77a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-7-29_1539847451/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -206.27295434505524, + 1619.8754490928332, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -203.27295434505524, + 1619.8754490928332, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -200.27295434505524, + 1619.8754490928332, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -197.27295434505524, + 1619.8754490928332, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -194.27295434505524, + 1619.8754490928332, + 47.46239755631296 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -194.27295434505524, + 1619.8754490928332, + 47.46239755631296 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -194.27295434505524, + 1619.8754490928332, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -192.77295434505524, + 1622.4735253041865, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -191.27295434505524, + 1625.07160151554, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -189.77295434505524, + 1627.6696777268933, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -188.27295434505524, + 1630.2677539382466, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -186.77295434505524, + 1632.8658301496, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -185.27295434505524, + 1635.4639063609534, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -183.77295434505524, + 1638.0619825723068, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -182.27295434505524, + 1640.6600587836601, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -180.77295434505524, + 1643.2581349950135, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -179.27295434505524, + 1645.8562112063669, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -177.77295434505524, + 1648.4542874177203, + 47.46239755631296 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -177.77295434505524, + 1648.4542874177203, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -175.17487813370192, + 1649.9542874177203, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -172.5768019223486, + 1651.4542874177203, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -169.9787257109953, + 1652.9542874177203, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -167.38064949964198, + 1654.4542874177203, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -164.78257328828866, + 1655.9542874177203, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -162.18449707693534, + 1657.4542874177203, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -159.58642086558203, + 1658.9542874177203, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -156.9883446542287, + 1660.4542874177203, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -154.3902684428754, + 1661.9542874177203, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -151.79219223152208, + 1663.4542874177203, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -149.19411602016876, + 1664.9542874177203, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -146.59603980881545, + 1666.4542874177203, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -143.99796359746213, + 1667.9542874177203, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -141.39988738610882, + 1669.4542874177203, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -138.8018111747555, + 1670.9542874177203, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -136.20373496340218, + 1672.4542874177203, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -133.60565875204887, + 1673.9542874177203, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -131.00758254069555, + 1675.4542874177203, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -128.40950632934224, + 1676.9542874177203, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -125.81143011798892, + 1678.4542874177203, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -123.2133539066356, + 1679.9542874177203, + 47.46239755631296 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -123.2133539066356, + 1679.9542874177203, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -121.7133539066356, + 1682.5523636290736, + 47.46239755631296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -120.2133539066356, + 1685.150439840427, + 47.46239755631296 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -64.0, + 1728.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_15-12-54_1848626607/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_15-12-54_1848626607/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1d4fe24c39074d9b51286e72fef15bfb33e7d666 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_15-12-54_1848626607/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1475.645733034712, + 165.68100676479247, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1474.145733034712, + 163.08293055343916, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1472.645733034712, + 160.48485434208584, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1471.145733034712, + 157.88677813073252, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1469.645733034712, + 155.2887019193792, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1468.145733034712, + 152.6906257080259, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1466.645733034712, + 150.09254949667258, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1465.145733034712, + 147.49447328531926, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1463.645733034712, + 144.89639707396594, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1462.145733034712, + 142.29832086261263, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1460.645733034712, + 139.7002446512593, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1459.145733034712, + 137.102168439906, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1457.645733034712, + 134.50409222855268, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1456.145733034712, + 131.90601601719936, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1454.645733034712, + 129.30793980584605, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1453.145733034712, + 126.70986359449273, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1451.645733034712, + 124.11178738313941, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1450.145733034712, + 121.5137111717861, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1448.645733034712, + 118.91563496043278, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1447.145733034712, + 116.31755874907947, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1445.645733034712, + 113.71948253772615, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1444.145733034712, + 111.12140632637283, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1442.645733034712, + 108.52333011501952, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1441.145733034712, + 105.9252539036662, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1439.645733034712, + 103.32717769231289, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1438.145733034712, + 100.72910148095957, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1436.645733034712, + 98.13102526960625, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1435.145733034712, + 95.53294905825294, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1433.645733034712, + 92.93487284689962, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1432.145733034712, + 90.3367966355463, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1430.645733034712, + 87.73872042419299, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1429.145733034712, + 85.14064421283967, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1427.645733034712, + 82.54256800148636, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1426.145733034712, + 79.94449179013304, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1424.645733034712, + 77.34641557877973, + 46.13115666724369 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1424.645733034712, + 77.34641557877973, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1422.0476568233587, + 75.84641557877973, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1419.4495806120053, + 74.34641557877973, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1416.851504400652, + 72.84641557877973, + 46.13115666724369 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1414.2534281892986, + 71.34641557877973, + 46.13115666724369 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1392.0, + 36.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_15-54-54_1732940310/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_15-54-54_1732940310/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f2056c178edcf437cce9c0f9ce3ae6368e236c9f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_15-54-54_1732940310/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 531.3635699433573, + -214.16031891249966, + 67.15059906067172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 534.3635699433573, + -214.16031891249966, + 67.15059906067172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 537.3635699433573, + -214.16031891249966, + 67.15059906067172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 540.3635699433573, + -214.16031891249966, + 67.15059906067172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 543.3635699433573, + -214.16031891249966, + 67.15059906067172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 546.3635699433573, + -214.16031891249966, + 67.15059906067172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 549.3635699433573, + -214.16031891249966, + 67.15059906067172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 552.3635699433573, + -214.16031891249966, + 67.15059906067172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 555.3635699433573, + -214.16031891249966, + 67.15059906067172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 558.3635699433573, + -214.16031891249966, + 67.15059906067172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 561.3635699433573, + -214.16031891249966, + 67.15059906067172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 564.3635699433573, + -214.16031891249966, + 67.15059906067172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 567.3635699433573, + -214.16031891249966, + 67.15059906067172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 570.3635699433573, + -214.16031891249966, + 67.15059906067172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 573.3635699433573, + -214.16031891249966, + 67.15059906067172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 576.3635699433573, + -214.16031891249966, + 67.15059906067172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 579.3635699433573, + -214.16031891249966, + 67.15059906067172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 582.3635699433573, + -214.16031891249966, + 67.15059906067172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 585.3635699433573, + -214.16031891249966, + 67.15059906067172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 588.3635699433573, + -214.16031891249966, + 67.15059906067172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 591.3635699433573, + -214.16031891249966, + 67.15059906067172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 594.3635699433573, + -214.16031891249966, + 67.15059906067172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 597.3635699433573, + -214.16031891249966, + 67.15059906067172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 600.3635699433573, + -214.16031891249966, + 67.15059906067172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 603.3635699433573, + -214.16031891249966, + 67.15059906067172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 606.3635699433573, + -214.16031891249966, + 67.15059906067172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 609.3635699433573, + -214.16031891249966, + 67.15059906067172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 612.3635699433573, + -214.16031891249966, + 67.15059906067172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 615.3635699433573, + -214.16031891249966, + 67.15059906067172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 618.3635699433573, + -214.16031891249966, + 67.15059906067172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 621.3635699433573, + -214.16031891249966, + 67.15059906067172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 624.3635699433573, + -214.16031891249966, + 67.15059906067172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 627.3635699433573, + -214.16031891249966, + 67.15059906067172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 630.3635699433573, + -214.16031891249966, + 67.15059906067172 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 684.0, + -216.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-26-12_254980437/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-26-12_254980437/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6c615b99dc0ad132f4e92753dbcee1706887c13e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-26-12_254980437/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1210.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1213.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1216.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1219.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1222.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1225.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1228.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1231.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1234.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1237.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1240.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1243.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1246.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1249.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1252.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1255.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1258.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1261.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1264.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1267.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1270.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1273.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1276.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1279.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1282.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1285.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1288.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1291.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1294.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1297.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1300.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1303.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1306.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1309.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1312.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1315.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1318.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1321.3890936780563, + 362.5877709445304, + 42.59502276950303 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1364.0, + 360.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-5-0_729290176/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-5-0_729290176/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dd30c839cadf4e0b73fa95d0a9b4e93a6fc45783 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-5-0_729290176/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 666.7981312193684, + -738.5957549504924, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 665.2981312193684, + -735.997678739139, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 663.7981312193684, + -733.3996025277856, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 662.2981312193684, + -730.8015263164323, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 660.7981312193684, + -728.2034501050789, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 659.2981312193684, + -725.6053738937255, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 657.7981312193684, + -723.0072976823722, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 656.2981312193684, + -720.4092214710188, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 654.7981312193684, + -717.8111452596654, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 653.2981312193684, + -715.213069048312, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 651.7981312193684, + -712.6149928369587, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 650.2981312193684, + -710.0169166256053, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 648.7981312193684, + -707.4188404142519, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 647.2981312193684, + -704.8207642028985, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 645.7981312193684, + -702.2226879915452, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 644.2981312193684, + -699.6246117801918, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 642.7981312193684, + -697.0265355688384, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 641.2981312193684, + -694.428459357485, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 639.7981312193684, + -691.8303831461317, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 638.2981312193684, + -689.2323069347783, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 636.7981312193684, + -686.6342307234249, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 635.2981312193684, + -684.0361545120716, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 633.7981312193684, + -681.4380783007182, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 632.2981312193684, + -678.8400020893648, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 630.7981312193684, + -676.2419258780114, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 629.2981312193684, + -673.6438496666581, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 627.7981312193684, + -671.0457734553047, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 626.2981312193684, + -668.4476972439513, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 624.7981312193684, + -665.849621032598, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 623.2981312193684, + -663.2515448212446, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 621.7981312193684, + -660.6534686098912, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 620.2981312193684, + -658.0553923985378, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 618.7981312193684, + -655.4573161871845, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 617.2981312193684, + -652.8592399758311, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 615.7981312193684, + -650.2611637644777, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 614.2981312193684, + -647.6630875531243, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 612.7981312193684, + -645.065011341771, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 611.2981312193684, + -642.4669351304176, + 68.53473099223098 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 611.2981312193684, + -642.4669351304176, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 611.2981312193684, + -639.4669351304176, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 611.2981312193684, + -636.4669351304176, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 611.2981312193684, + -633.4669351304176, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 611.2981312193684, + -630.4669351304176, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 611.2981312193684, + -627.4669351304176, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 611.2981312193684, + -624.4669351304176, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 611.2981312193684, + -621.4669351304176, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 611.2981312193684, + -618.4669351304176, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 611.2981312193684, + -615.4669351304176, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 611.2981312193684, + -612.4669351304176, + 68.53473099223098 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 611.2981312193684, + -609.4669351304176, + 68.53473099223098 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 600.0, + -588.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-53-21_143154913/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-53-21_143154913/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e24e654d1182881838c7a0690f948809a3cdd0ea --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-53-21_143154913/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 840.570312440431, + -1559.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 840.570312440431, + -1556.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 840.570312440431, + -1553.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 840.570312440431, + -1550.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 840.570312440431, + -1547.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 840.570312440431, + -1544.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 840.570312440431, + -1541.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 840.570312440431, + -1538.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 840.570312440431, + -1535.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 840.570312440431, + -1532.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 840.570312440431, + -1529.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 840.570312440431, + -1526.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 840.570312440431, + -1523.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 840.570312440431, + -1520.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 840.570312440431, + -1517.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 840.570312440431, + -1514.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 840.570312440431, + -1511.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 840.570312440431, + -1508.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 840.570312440431, + -1505.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 840.570312440431, + -1502.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 840.570312440431, + -1499.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 840.570312440431, + -1496.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 840.570312440431, + -1493.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 840.570312440431, + -1490.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 840.570312440431, + -1487.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 840.570312440431, + -1484.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 840.570312440431, + -1481.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 840.570312440431, + -1478.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 840.570312440431, + -1475.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 840.570312440431, + -1472.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 840.570312440431, + -1469.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 840.570312440431, + -1466.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 840.570312440431, + -1463.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 840.570312440431, + -1460.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 840.570312440431, + -1457.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 840.570312440431, + -1454.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 840.570312440431, + -1451.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 840.570312440431, + -1448.8753638969772, + 63.20893846444401 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 840.570312440431, + -1448.8753638969772, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 842.070312440431, + -1446.2772876856238, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 843.570312440431, + -1443.6792114742705, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 845.070312440431, + -1441.081135262917, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 846.570312440431, + -1438.4830590515637, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 848.070312440431, + -1435.8849828402103, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 849.570312440431, + -1433.286906628857, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 851.070312440431, + -1430.6888304175036, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 852.570312440431, + -1428.0907542061502, + 63.20893846444401 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 854.070312440431, + -1425.4926779947968, + 63.20893846444401 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 860.0, + -1396.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_17-14-59_1233983202/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_17-14-59_1233983202/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3e97598edcf81b757fe74c5d9830f620258a829d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_17-14-59_1233983202/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -143.49915277353455, + -235.8527501407415, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -144.99915277353455, + -233.2546739293882, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -146.49915277353455, + -230.65659771803487, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -147.99915277353455, + -228.05852150668156, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -149.49915277353455, + -225.46044529532824, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -150.99915277353455, + -222.86236908397493, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -152.49915277353455, + -220.2642928726216, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -153.99915277353455, + -217.6662166612683, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -155.49915277353455, + -215.06814044991498, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -156.99915277353455, + -212.47006423856166, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -158.49915277353455, + -209.87198802720835, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -159.99915277353455, + -207.27391181585503, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -161.49915277353455, + -204.6758356045017, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -162.99915277353455, + -202.0777593931484, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -164.49915277353455, + -199.47968318179508, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -165.99915277353455, + -196.88160697044177, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -167.49915277353455, + -194.28353075908845, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -168.99915277353455, + -191.68545454773513, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -170.49915277353455, + -189.08737833638182, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -171.99915277353455, + -186.4893021250285, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -173.49915277353455, + -183.89122591367519, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -174.99915277353455, + -181.29314970232187, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -176.49915277353455, + -178.69507349096855, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -177.99915277353455, + -176.09699727961524, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -179.49915277353455, + -173.49892106826192, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -180.99915277353455, + -170.9008448569086, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -182.49915277353455, + -168.3027686455553, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -183.99915277353455, + -165.70469243420197, + 65.37658877555732 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -183.99915277353455, + -165.70469243420197, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -183.99915277353455, + -162.70469243420197, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -183.99915277353455, + -159.70469243420197, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -183.99915277353455, + -156.70469243420197, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -183.99915277353455, + -153.70469243420197, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -183.99915277353455, + -150.70469243420197, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -183.99915277353455, + -147.70469243420197, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -183.99915277353455, + -144.70469243420197, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -183.99915277353455, + -141.70469243420197, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -183.99915277353455, + -138.70469243420197, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -183.99915277353455, + -135.70469243420197, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -183.99915277353455, + -132.70469243420197, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -183.99915277353455, + -129.70469243420197, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -183.99915277353455, + -126.70469243420197, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -183.99915277353455, + -123.70469243420197, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -183.99915277353455, + -120.70469243420197, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -183.99915277353455, + -117.70469243420197, + 65.37658877555732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -183.99915277353455, + -114.70469243420197, + 65.37658877555732 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -192.0, + -88.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_17-19-10_489005601/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_17-19-10_489005601/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a27d15be20e622bf496d8ccb48c5f583d70e1184 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_17-19-10_489005601/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1717.8380884107219, + 773.2746116056575, + 53.32387159657746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1720.8380884107219, + 773.2746116056575, + 53.32387159657746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1723.8380884107219, + 773.2746116056575, + 53.32387159657746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1726.8380884107219, + 773.2746116056575, + 53.32387159657746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1729.8380884107219, + 773.2746116056575, + 53.32387159657746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1732.8380884107219, + 773.2746116056575, + 53.32387159657746 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1732.8380884107219, + 773.2746116056575, + 53.32387159657746 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1732.8380884107219, + 773.2746116056575, + 53.32387159657746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1734.3380884107219, + 775.8726878170107, + 53.32387159657746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1735.8380884107219, + 778.4707640283641, + 53.32387159657746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1737.3380884107219, + 781.0688402397175, + 53.32387159657746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1738.8380884107219, + 783.6669164510708, + 53.32387159657746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1740.3380884107219, + 786.2649926624242, + 53.32387159657746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1741.8380884107219, + 788.8630688737776, + 53.32387159657746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1743.3380884107219, + 791.461145085131, + 53.32387159657746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1744.8380884107219, + 794.0592212964843, + 53.32387159657746 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1744.8380884107219, + 794.0592212964843, + 53.32387159657746 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1744.8380884107219, + 794.0592212964843, + 53.32387159657746 + ], + "type": "turn right", + "value": 30, + "yaw": 9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1744.8380884107219, + 794.0592212964843, + 53.32387159657746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1747.4361646220752, + 792.5592212964843, + 53.32387159657746 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1747.4361646220752, + 792.5592212964843, + 53.32387159657746 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1750.4361646220752, + 792.5592212964843, + 53.32387159657746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1753.4361646220752, + 792.5592212964843, + 53.32387159657746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1756.4361646220752, + 792.5592212964843, + 53.32387159657746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1759.4361646220752, + 792.5592212964843, + 53.32387159657746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1762.4361646220752, + 792.5592212964843, + 53.32387159657746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1765.4361646220752, + 792.5592212964843, + 53.32387159657746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1768.4361646220752, + 792.5592212964843, + 53.32387159657746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1771.4361646220752, + 792.5592212964843, + 53.32387159657746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1774.4361646220752, + 792.5592212964843, + 53.32387159657746 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1774.4361646220752, + 792.5592212964843, + 53.32387159657746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1777.0342408334286, + 791.0592212964843, + 53.32387159657746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1779.632317044782, + 789.5592212964843, + 53.32387159657746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1782.2303932561354, + 788.0592212964843, + 53.32387159657746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1784.8284694674887, + 786.5592212964843, + 53.32387159657746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1787.426545678842, + 785.0592212964843, + 53.32387159657746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1790.0246218901955, + 783.5592212964843, + 53.32387159657746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1792.6226981015488, + 782.0592212964843, + 53.32387159657746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1795.2207743129022, + 780.5592212964843, + 53.32387159657746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1797.8188505242556, + 779.0592212964843, + 53.32387159657746 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1888.0, + 784.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_17-39-18_682974831/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_17-39-18_682974831/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3158a179d257e3d8d35563bd100e54f0692695d6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_17-39-18_682974831/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1500.1053076243782, + -266.5582437798912, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1501.6053076243782, + -269.1563199912445, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1503.1053076243782, + -271.75439620259783, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1504.6053076243782, + -274.35247241395115, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1506.1053076243782, + -276.95054862530446, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1507.6053076243782, + -279.5486248366578, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1509.1053076243782, + -282.1467010480111, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1510.6053076243782, + -284.7447772593644, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1512.1053076243782, + -287.3428534707177, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1513.6053076243782, + -289.94092968207104, + 40.05590047355088 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1513.6053076243782, + -289.94092968207104, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1516.2033838357315, + -291.44092968207104, + 40.05590047355088 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1516.2033838357315, + -291.44092968207104, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1517.7033838357315, + -294.03900589342436, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1519.2033838357315, + -296.6370821047777, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1520.7033838357315, + -299.235158316131, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1522.2033838357315, + -301.8332345274843, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1523.7033838357315, + -304.4313107388376, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1525.2033838357315, + -307.02938695019094, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1526.7033838357315, + -309.62746316154426, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1528.2033838357315, + -312.2255393728976, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1529.7033838357315, + -314.8236155842509, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1531.2033838357315, + -317.4216917956042, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1532.7033838357315, + -320.0197680069575, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1534.2033838357315, + -322.61784421831084, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1535.7033838357315, + -325.21592042966415, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1537.2033838357315, + -327.81399664101747, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1538.7033838357315, + -330.4120728523708, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1540.2033838357315, + -333.0101490637241, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1541.7033838357315, + -335.6082252750774, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1543.2033838357315, + -338.20630148643073, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1544.7033838357315, + -340.80437769778405, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1546.2033838357315, + -343.40245390913736, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1547.7033838357315, + -346.0005301204907, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1549.2033838357315, + -348.598606331844, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1550.7033838357315, + -351.1966825431973, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1552.2033838357315, + -353.7947587545506, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1553.7033838357315, + -356.39283496590394, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1555.2033838357315, + -358.99091117725726, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1556.7033838357315, + -361.5889873886106, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1558.2033838357315, + -364.1870635999639, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1559.7033838357315, + -366.7851398113172, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1561.2033838357315, + -369.3832160226705, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1562.7033838357315, + -371.98129223402384, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1564.2033838357315, + -374.57936844537716, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1565.7033838357315, + -377.1774446567305, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1567.2033838357315, + -379.7755208680838, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1568.7033838357315, + -382.3735970794371, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1570.2033838357315, + -384.9716732907904, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1571.7033838357315, + -387.56974950214374, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1573.2033838357315, + -390.16782571349705, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1574.7033838357315, + -392.76590192485037, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1576.2033838357315, + -395.3639781362037, + 40.05590047355088 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1576.2033838357315, + -395.3639781362037, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1576.2033838357315, + -398.3639781362037, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1576.2033838357315, + -401.3639781362037, + 40.05590047355088 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -1576.2033838357315, + -404.3639781362037, + 40.05590047355088 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1580.0, + -416.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_17-45-27_1952768216/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_17-45-27_1952768216/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d6e48c0159d53168968ca6e481c27540a9216535 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_17-45-27_1952768216/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1503.0628400867422, + -264.7572993401184, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1500.4647638753888, + -266.2572993401184, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1497.8666876640355, + -267.7572993401184, + 41.49050245998634 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1497.8666876640355, + -267.7572993401184, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1496.3666876640355, + -270.3553755514717, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1494.8666876640355, + -272.953451762825, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1493.3666876640355, + -275.5515279741783, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1491.8666876640355, + -278.14960418553164, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1490.3666876640355, + -280.74768039688496, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1488.8666876640355, + -283.3457566082383, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1487.3666876640355, + -285.9438328195916, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1485.8666876640355, + -288.5419090309449, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1484.3666876640355, + -291.1399852422982, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1482.8666876640355, + -293.73806145365154, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1481.3666876640355, + -296.33613766500486, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1479.8666876640355, + -298.93421387635817, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1478.3666876640355, + -301.5322900877115, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1476.8666876640355, + -304.1303662990648, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1475.3666876640355, + -306.7284425104181, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1473.8666876640355, + -309.32651872177144, + 41.49050245998634 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1473.8666876640355, + -309.32651872177144, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1473.8666876640355, + -312.32651872177144, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1473.8666876640355, + -315.32651872177144, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1473.8666876640355, + -318.32651872177144, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1473.8666876640355, + -321.32651872177144, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1473.8666876640355, + -324.32651872177144, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1473.8666876640355, + -327.32651872177144, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1473.8666876640355, + -330.32651872177144, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1473.8666876640355, + -333.32651872177144, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1473.8666876640355, + -336.32651872177144, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1473.8666876640355, + -339.32651872177144, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1473.8666876640355, + -342.32651872177144, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1473.8666876640355, + -345.32651872177144, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1473.8666876640355, + -348.32651872177144, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1473.8666876640355, + -351.32651872177144, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1473.8666876640355, + -354.32651872177144, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1473.8666876640355, + -357.32651872177144, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1473.8666876640355, + -360.32651872177144, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1473.8666876640355, + -363.32651872177144, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1473.8666876640355, + -366.32651872177144, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1473.8666876640355, + -369.32651872177144, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1473.8666876640355, + -372.32651872177144, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1473.8666876640355, + -375.32651872177144, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1473.8666876640355, + -378.32651872177144, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1473.8666876640355, + -381.32651872177144, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1473.8666876640355, + -384.32651872177144, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1473.8666876640355, + -387.32651872177144, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1473.8666876640355, + -390.32651872177144, + 41.49050245998634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1473.8666876640355, + -393.32651872177144, + 41.49050245998634 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1468.0, + -416.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-40-46_2019217281/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-40-46_2019217281/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..30e858bfb26f5ca2b81902a70b47459a60529d83 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-40-46_2019217281/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1755.1943829246254, + -988.1423158458051, + 43.69672270734606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1757.7924591359788, + -986.6423158458051, + 43.69672270734606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1760.3905353473322, + -985.1423158458051, + 43.69672270734606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1762.9886115586855, + -983.6423158458051, + 43.69672270734606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1765.586687770039, + -982.1423158458051, + 43.69672270734606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1768.1847639813923, + -980.6423158458051, + 43.69672270734606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1770.7828401927457, + -979.1423158458051, + 43.69672270734606 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1770.7828401927457, + -979.1423158458051, + 43.69672270734606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1772.2828401927457, + -976.5442396344517, + 43.69672270734606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1773.7828401927457, + -973.9461634230984, + 43.69672270734606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1775.2828401927457, + -971.348087211745, + 43.69672270734606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1776.7828401927457, + -968.7500110003916, + 43.69672270734606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1778.2828401927457, + -966.1519347890383, + 43.69672270734606 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1872.0, + -872.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-18-31_1021432192/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-18-31_1021432192/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..65540799a95d3a13f94d87c3a493d38c6ac39992 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-18-31_1021432192/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -17.68374123766462, + -409.0976214994958, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -15.085665026311304, + -410.5976214994958, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -12.487588814957988, + -412.0976214994958, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -9.889512603604672, + -413.5976214994958, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -7.291436392251356, + -415.0976214994958, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -4.69336018089804, + -416.5976214994958, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2.095283969544724, + -418.0976214994958, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 0.5027922418085922, + -419.5976214994958, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3.100868453161908, + -421.0976214994958, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 5.698944664515224, + -422.5976214994958, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 8.29702087586854, + -424.0976214994958, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 10.895097087221856, + -425.5976214994958, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 13.493173298575172, + -427.0976214994958, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 16.09124950992849, + -428.5976214994958, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 18.689325721281804, + -430.0976214994958, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 21.28740193263512, + -431.5976214994958, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 23.885478143988436, + -433.0976214994958, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 26.483554355341752, + -434.5976214994958, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 29.08163056669507, + -436.0976214994958, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 31.679706778048384, + -437.5976214994958, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 34.2777829894017, + -439.0976214994958, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 36.875859200755016, + -440.5976214994958, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 39.47393541210833, + -442.0976214994958, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 42.07201162346165, + -443.5976214994958, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 44.670087834814964, + -445.0976214994958, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 47.26816404616828, + -446.5976214994958, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 49.866240257521596, + -448.0976214994958, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 52.46431646887491, + -449.5976214994958, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 55.06239268022823, + -451.0976214994958, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 57.660468891581544, + -452.5976214994958, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 60.25854510293486, + -454.0976214994958, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 62.856621314288176, + -455.5976214994958, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 65.45469752564149, + -457.0976214994958, + 68.31359796121333 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 65.45469752564149, + -457.0976214994958, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 66.95469752564149, + -459.6956977108491, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 68.45469752564149, + -462.29377392220243, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 69.95469752564149, + -464.89185013355575, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 71.45469752564149, + -467.48992634490907, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 72.95469752564149, + -470.0880025562624, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 74.45469752564149, + -472.6860787676157, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 75.95469752564149, + -475.284154978969, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 77.45469752564149, + -477.88223119032233, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 78.95469752564149, + -480.48030740167565, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 80.45469752564149, + -483.07838361302896, + 68.31359796121333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 81.95469752564149, + -485.6764598243823, + 68.31359796121333 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.0, + -504.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-34-39_298662559/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-34-39_298662559/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e990759665de32fb3f70749f1b4b0b504fe23cf9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-34-39_298662559/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -42.8644209741216, + 1611.1119859406103, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -41.3644209741216, + 1613.7100621519637, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -39.8644209741216, + 1616.308138363317, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -38.3644209741216, + 1618.9062145746705, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -36.8644209741216, + 1621.5042907860238, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -35.3644209741216, + 1624.1023669973772, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -33.8644209741216, + 1626.7004432087306, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -32.3644209741216, + 1629.298519420084, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -30.8644209741216, + 1631.8965956314373, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -29.3644209741216, + 1634.4946718427907, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -27.8644209741216, + 1637.092748054144, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -26.3644209741216, + 1639.6908242654974, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -24.8644209741216, + 1642.2889004768508, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -23.3644209741216, + 1644.8869766882042, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -21.8644209741216, + 1647.4850528995576, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -20.3644209741216, + 1650.083129110911, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -18.8644209741216, + 1652.6812053222643, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -17.3644209741216, + 1655.2792815336177, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -15.8644209741216, + 1657.877357744971, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -14.3644209741216, + 1660.4754339563244, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -12.8644209741216, + 1663.0735101676778, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -11.3644209741216, + 1665.6715863790312, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -9.8644209741216, + 1668.2696625903845, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -8.3644209741216, + 1670.867738801738, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -6.8644209741216, + 1673.4658150130913, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -5.3644209741216, + 1676.0638912244447, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -3.8644209741216, + 1678.661967435798, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2.3644209741215994, + 1681.2600436471514, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -0.8644209741215989, + 1683.8581198585048, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 0.6355790258784015, + 1686.4561960698582, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2.135579025878402, + 1689.0542722812115, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3.6355790258784024, + 1691.652348492565, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 5.135579025878403, + 1694.2504247039183, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196607 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 6.635579025878403, + 1696.8485009152716, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 8.135579025878403, + 1699.446577126625, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 9.635579025878403, + 1702.0446533379784, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 11.135579025878403, + 1704.6427295493318, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 12.635579025878403, + 1707.2408057606851, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 14.135579025878403, + 1709.8388819720385, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 15.635579025878403, + 1712.4369581833919, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 17.135579025878403, + 1715.0350343947453, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 18.635579025878403, + 1717.6331106060986, + 47.97619486692051 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 18.635579025878403, + 1717.6331106060986, + 47.97619486692051 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 18.635579025878403, + 1720.6331106060986, + 47.97619486692051 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267949059 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.0, + 1756.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-35-32_1594643385/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-35-32_1594643385/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..66560475545f2b3989c517f66d7dca61637886ec --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-35-32_1594643385/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1371.3399599963222, + -919.6167970486682, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1372.8399599963222, + -917.018720837315, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1374.3399599963222, + -914.4206446259616, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1375.8399599963222, + -911.8225684146082, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1377.3399599963222, + -909.2244922032548, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1378.8399599963222, + -906.6264159919015, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1380.3399599963222, + -904.0283397805481, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1381.8399599963222, + -901.4302635691947, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1383.3399599963222, + -898.8321873578413, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1384.8399599963222, + -896.234111146488, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1386.3399599963222, + -893.6360349351346, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1387.8399599963222, + -891.0379587237812, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1389.3399599963222, + -888.4398825124279, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1390.8399599963222, + -885.8418063010745, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1392.3399599963222, + -883.2437300897211, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1393.8399599963222, + -880.6456538783677, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1395.3399599963222, + -878.0475776670144, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1396.8399599963222, + -875.449501455661, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1398.3399599963222, + -872.8514252443076, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1399.8399599963222, + -870.2533490329542, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1401.3399599963222, + -867.6552728216009, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1402.8399599963222, + -865.0571966102475, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1404.3399599963222, + -862.4591203988941, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1405.8399599963222, + -859.8610441875408, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1407.3399599963222, + -857.2629679761874, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1408.8399599963222, + -854.664891764834, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1410.3399599963222, + -852.0668155534806, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1411.8399599963222, + -849.4687393421273, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1413.3399599963222, + -846.8706631307739, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1414.8399599963222, + -844.2725869194205, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1416.3399599963222, + -841.6745107080671, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1417.8399599963222, + -839.0764344967138, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1419.3399599963222, + -836.4783582853604, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1420.8399599963222, + -833.880282074007, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1422.3399599963222, + -831.2822058626537, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1423.8399599963222, + -828.6841296513003, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1425.3399599963222, + -826.0860534399469, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1426.8399599963222, + -823.4879772285935, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1428.3399599963222, + -820.8899010172402, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1429.8399599963222, + -818.2918248058868, + 61.082520257562194 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1429.8399599963222, + -818.2918248058868, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1432.4380362076756, + -816.7918248058868, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1435.036112419029, + -815.2918248058868, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1437.6341886303824, + -813.7918248058868, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1440.2322648417357, + -812.2918248058868, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1442.8303410530891, + -810.7918248058868, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1445.4284172644425, + -809.2918248058868, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1448.0264934757959, + -807.7918248058868, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1450.6245696871492, + -806.2918248058868, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1453.2226458985026, + -804.7918248058868, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1455.820722109856, + -803.2918248058868, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1458.4187983212094, + -801.7918248058868, + 61.082520257562194 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1458.4187983212094, + -801.7918248058868, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1459.9187983212094, + -799.1937485945334, + 61.082520257562194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1461.4187983212094, + -796.59567238318, + 61.082520257562194 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1476.0, + -776.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-13-19_204428608/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-13-19_204428608/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d6a43f006d0c97529314959acd79b28565236d16 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-13-19_204428608/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 999.5866349891767, + 938.6529020169496, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 996.9885587778233, + 937.1529020169496, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 994.3904825664699, + 935.6529020169496, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 991.7924063551166, + 934.1529020169496, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 989.1943301437632, + 932.6529020169496, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 986.5962539324098, + 931.1529020169496, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 983.9981777210564, + 929.6529020169496, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 981.4001015097031, + 928.1529020169496, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 978.8020252983497, + 926.6529020169496, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 976.2039490869963, + 925.1529020169496, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 973.605872875643, + 923.6529020169496, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 971.0077966642896, + 922.1529020169496, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 968.4097204529362, + 920.6529020169496, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 965.8116442415828, + 919.1529020169496, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 963.2135680302295, + 917.6529020169496, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 960.6154918188761, + 916.1529020169496, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 958.0174156075227, + 914.6529020169496, + 61.1391668059171 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 958.0174156075227, + 914.6529020169496, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 956.5174156075227, + 912.0548258055962, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 955.0174156075227, + 909.4567495942429, + 61.1391668059171 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 955.0174156075227, + 909.4567495942429, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 952.4193393961693, + 907.9567495942429, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 949.821263184816, + 906.4567495942429, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 947.2231869734626, + 904.9567495942429, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 944.6251107621092, + 903.4567495942429, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 942.0270345507558, + 901.9567495942429, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 939.4289583394025, + 900.4567495942429, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 936.8308821280491, + 898.9567495942429, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 934.2328059166957, + 897.4567495942429, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 931.6347297053424, + 895.9567495942429, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 929.036653493989, + 894.4567495942429, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 926.4385772826356, + 892.9567495942429, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 923.8405010712822, + 891.4567495942429, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 921.2424248599289, + 889.9567495942429, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 918.6443486485755, + 888.4567495942429, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 916.0462724372221, + 886.9567495942429, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 913.4481962258687, + 885.4567495942429, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 910.8501200145154, + 883.9567495942429, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 908.252043803162, + 882.4567495942429, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 905.6539675918086, + 880.9567495942429, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 903.0558913804553, + 879.4567495942429, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 900.4578151691019, + 877.9567495942429, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 897.8597389577485, + 876.4567495942429, + 61.1391668059171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 895.2616627463951, + 874.9567495942429, + 61.1391668059171 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 868.0, + 856.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-33-32_612816071/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-33-32_612816071/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f19595d5b8f99207fa1adf2fd26e054f1ccc9f81 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-33-32_612816071/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1689.486912891073, + -450.464117208652, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1687.986912891073, + -453.0621934200053, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1686.486912891073, + -455.66026963135863, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1684.986912891073, + -458.25834584271195, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1683.486912891073, + -460.85642205406526, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1681.986912891073, + -463.4544982654186, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1680.486912891073, + -466.0525744767719, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1678.986912891073, + -468.6506506881252, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1677.486912891073, + -471.2487268994785, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1675.986912891073, + -473.84680311083184, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1674.486912891073, + -476.44487932218516, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1672.986912891073, + -479.0429555335385, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1671.486912891073, + -481.6410317448918, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1669.986912891073, + -484.2391079562451, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1668.486912891073, + -486.8371841675984, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1666.986912891073, + -489.43526037895174, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1665.486912891073, + -492.03333659030505, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1663.986912891073, + -494.63141280165837, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1662.486912891073, + -497.2294890130117, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1660.986912891073, + -499.827565224365, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1659.486912891073, + -502.4256414357183, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1657.986912891073, + -505.02371764707163, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1656.486912891073, + -507.62179385842495, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1654.986912891073, + -510.21987006977827, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1653.486912891073, + -512.8179462811315, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1651.986912891073, + -515.4160224924849, + 67.62562373405825 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1651.986912891073, + -515.4160224924849, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1649.3888366797196, + -516.9160224924849, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1646.7907604683662, + -518.4160224924849, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1644.1926842570128, + -519.9160224924849, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1641.5946080456595, + -521.4160224924849, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1638.996531834306, + -522.9160224924849, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1636.3984556229527, + -524.4160224924849, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1633.8003794115994, + -525.9160224924849, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1631.202303200246, + -527.4160224924849, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1628.6042269888926, + -528.9160224924849, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1626.0061507775392, + -530.4160224924849, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1623.4080745661859, + -531.9160224924849, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1620.8099983548325, + -533.4160224924849, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1618.2119221434791, + -534.9160224924849, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1615.6138459321257, + -536.4160224924849, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1613.0157697207724, + -537.9160224924849, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1610.417693509419, + -539.4160224924849, + 67.62562373405825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1607.8196172980656, + -540.9160224924849, + 67.62562373405825 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1588.0, + -564.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-43-54_1182176620/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-43-54_1182176620/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..522ecc5f3a0f2f9a6f5a5e394fc9f339bb674cc2 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-43-54_1182176620/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -31.441477374334227, + -607.9769232213956, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -29.941477374334227, + -605.3788470100424, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -28.441477374334227, + -602.780770798689, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -26.941477374334227, + -600.1826945873356, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -25.441477374334227, + -597.5846183759822, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -23.941477374334227, + -594.9865421646289, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -22.441477374334227, + -592.3884659532755, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -20.941477374334227, + -589.7903897419221, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -19.441477374334227, + -587.1923135305688, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -17.941477374334227, + -584.5942373192154, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -16.441477374334227, + -581.996161107862, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -14.941477374334227, + -579.3980848965086, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -13.441477374334227, + -576.8000086851553, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -11.941477374334227, + -574.2019324738019, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -10.441477374334227, + -571.6038562624485, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -8.941477374334227, + -569.0057800510951, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -7.441477374334227, + -566.4077038397418, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -5.941477374334227, + -563.8096276283884, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -4.441477374334227, + -561.211551417035, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2.941477374334226, + -558.6134752056817, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1.4414773743342257, + -556.0153989943283, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 0.05852262566577471, + -553.4173227829749, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1.5585226256657752, + -550.8192465716215, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3.0585226256657756, + -548.2211703602682, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4.558522625665776, + -545.6230941489148, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 6.058522625665777, + -543.0250179375614, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196607 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 7.558522625665777, + -540.426941726208, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 9.058522625665777, + -537.8288655148547, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 10.558522625665777, + -535.2307893035013, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 12.058522625665777, + -532.6327130921479, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 13.558522625665777, + -530.0346368807946, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 15.058522625665777, + -527.4365606694412, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 16.558522625665777, + -524.8384844580878, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 18.058522625665777, + -522.2404082467344, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 19.558522625665777, + -519.6423320353811, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 21.058522625665777, + -517.0442558240277, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 22.558522625665777, + -514.4461796126743, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 24.058522625665777, + -511.848103401321, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 25.558522625665777, + -509.2500271899677, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 27.058522625665777, + -506.65195097861437, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 28.558522625665777, + -504.05387476726105, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 30.058522625665777, + -501.45579855590773, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 31.558522625665777, + -498.8577223445544, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 33.05852262566578, + -496.2596461332011, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965967 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 34.55852262566578, + -493.6615699218478, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 36.05852262566578, + -491.06349371049447, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 37.55852262566578, + -488.46541749914115, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 39.05852262566578, + -485.86734128778784, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 40.55852262566578, + -483.2692650764345, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 42.05852262566578, + -480.6711888650812, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 43.55852262566578, + -478.0731126537279, + 61.108106040097255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 45.05852262566578, + -475.4750364423746, + 61.108106040097255 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 60.0, + -456.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-46-2_421101832/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-46-2_421101832/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ae6183960e1656658a46c0824b6bbc56bb319c52 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-46-2_421101832/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1169.0285358081026, + -153.27816109944627, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1166.4304595967492, + -151.77816109944627, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1163.8323833853958, + -150.27816109944627, + 55.19911665297246 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1163.8323833853958, + -150.27816109944627, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1162.3323833853958, + -147.68008488809295, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1160.8323833853958, + -145.08200867673963, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1159.3323833853958, + -142.48393246538632, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1157.8323833853958, + -139.885856254033, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1156.3323833853958, + -137.28778004267969, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1154.8323833853958, + -134.68970383132637, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1153.3323833853958, + -132.09162761997305, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1151.8323833853958, + -129.49355140861974, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1150.3323833853958, + -126.89547519726642, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1148.8323833853958, + -124.2973989859131, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1147.3323833853958, + -121.69932277455979, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1145.8323833853958, + -119.10124656320647, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1144.3323833853958, + -116.50317035185316, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1142.8323833853958, + -113.90509414049984, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1141.3323833853958, + -111.30701792914653, + 55.19911665297246 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1141.3323833853958, + -111.30701792914653, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1141.3323833853958, + -108.30701792914653, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1141.3323833853958, + -105.30701792914653, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1141.3323833853958, + -102.30701792914653, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1141.3323833853958, + -99.30701792914653, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1141.3323833853958, + -96.30701792914653, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1141.3323833853958, + -93.30701792914653, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1141.3323833853958, + -90.30701792914653, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1141.3323833853958, + -87.30701792914653, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1141.3323833853958, + -84.30701792914653, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1141.3323833853958, + -81.30701792914653, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1141.3323833853958, + -78.30701792914653, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1141.3323833853958, + -75.30701792914653, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1141.3323833853958, + -72.30701792914653, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1141.3323833853958, + -69.30701792914653, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1141.3323833853958, + -66.30701792914653, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1141.3323833853958, + -63.307017929146525, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1141.3323833853958, + -60.307017929146525, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1141.3323833853958, + -57.307017929146525, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1141.3323833853958, + -54.307017929146525, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1141.3323833853958, + -51.307017929146525, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1141.3323833853958, + -48.307017929146525, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1141.3323833853958, + -45.307017929146525, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1141.3323833853958, + -42.307017929146525, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1141.3323833853958, + -39.307017929146525, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1141.3323833853958, + -36.307017929146525, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1141.3323833853958, + -33.307017929146525, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1141.3323833853958, + -30.307017929146525, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1141.3323833853958, + -27.307017929146525, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1141.3323833853958, + -24.307017929146525, + 55.19911665297246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1141.3323833853958, + -21.307017929146525, + 55.19911665297246 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0, + 12.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-48-57_755526127/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-48-57_755526127/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a5c7006e85a258eab43b0438badccc0fd3e881d4 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-48-57_755526127/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1763.039769901093, + 1720.6218890937575, + 55.574795434808436 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1761.539769901093, + 1723.219965305111, + 55.574795434808436 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1760.039769901093, + 1725.8180415164643, + 55.574795434808436 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1758.539769901093, + 1728.4161177278177, + 55.574795434808436 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1758.539769901093, + 1728.4161177278177, + 55.574795434808436 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1758.539769901093, + 1731.4161177278177, + 55.574795434808436 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1758.539769901093, + 1734.4161177278177, + 55.574795434808436 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1758.539769901093, + 1737.4161177278177, + 55.574795434808436 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1758.539769901093, + 1740.4161177278177, + 55.574795434808436 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1758.539769901093, + 1743.4161177278177, + 55.574795434808436 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1758.539769901093, + 1743.4161177278177, + 55.574795434808436 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1757.039769901093, + 1746.014193939171, + 55.574795434808436 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1755.539769901093, + 1748.6122701505244, + 55.574795434808436 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1754.039769901093, + 1751.2103463618778, + 55.574795434808436 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1752.539769901093, + 1753.8084225732312, + 55.574795434808436 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1751.039769901093, + 1756.4064987845845, + 55.574795434808436 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1749.539769901093, + 1759.004574995938, + 55.574795434808436 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1748.039769901093, + 1761.6026512072913, + 55.574795434808436 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1746.539769901093, + 1764.2007274186446, + 55.574795434808436 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1745.039769901093, + 1766.798803629998, + 55.574795434808436 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1743.539769901093, + 1769.3968798413514, + 55.574795434808436 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1742.039769901093, + 1771.9949560527048, + 55.574795434808436 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1740.539769901093, + 1774.5930322640581, + 55.574795434808436 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1739.039769901093, + 1777.1911084754115, + 55.574795434808436 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1737.539769901093, + 1779.7891846867649, + 55.574795434808436 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1737.539769901093, + 1779.7891846867649, + 55.574795434808436 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1734.9416936897396, + 1781.2891846867649, + 55.574795434808436 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1732.3436174783862, + 1782.7891846867649, + 55.574795434808436 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1729.7455412670329, + 1784.2891846867649, + 55.574795434808436 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1727.1474650556795, + 1785.7891846867649, + 55.574795434808436 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1724.5493888443261, + 1787.2891846867649, + 55.574795434808436 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1721.9513126329728, + 1788.7891846867649, + 55.574795434808436 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1719.3532364216194, + 1790.2891846867649, + 55.574795434808436 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1716.755160210266, + 1791.7891846867649, + 55.574795434808436 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1714.1570839989126, + 1793.2891846867649, + 55.574795434808436 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1711.5590077875593, + 1794.7891846867649, + 55.574795434808436 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1708.960931576206, + 1796.2891846867649, + 55.574795434808436 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1706.3628553648525, + 1797.7891846867649, + 55.574795434808436 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1660.0, + 1864.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-55-57_1113331867/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-55-57_1113331867/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7badd2d8f55e9867dd38a48040acb1f9b996f43e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-55-57_1113331867/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1089.5349750014002, + 1786.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1092.5349750014002, + 1786.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1095.5349750014002, + 1786.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1098.5349750014002, + 1786.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1101.5349750014002, + 1786.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1104.5349750014002, + 1786.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1107.5349750014002, + 1786.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1110.5349750014002, + 1786.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1113.5349750014002, + 1786.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1116.5349750014002, + 1786.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1119.5349750014002, + 1786.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1122.5349750014002, + 1786.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1125.5349750014002, + 1786.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1128.5349750014002, + 1786.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1131.5349750014002, + 1786.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1134.5349750014002, + 1786.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1137.5349750014002, + 1786.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1140.5349750014002, + 1786.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1143.5349750014002, + 1786.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1146.5349750014002, + 1786.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1149.5349750014002, + 1786.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1152.5349750014002, + 1786.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1155.5349750014002, + 1786.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1158.5349750014002, + 1786.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1161.5349750014002, + 1786.7374971761608, + 57.014679177061076 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1161.5349750014002, + 1786.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1164.1330512127536, + 1785.2374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1166.731127424107, + 1783.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1169.3292036354603, + 1782.2374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1171.9272798468137, + 1780.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1174.525356058167, + 1779.2374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1177.1234322695204, + 1777.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1179.7215084808738, + 1776.2374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1182.3195846922272, + 1774.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1184.9176609035806, + 1773.2374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1187.515737114934, + 1771.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1190.1138133262873, + 1770.2374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1192.7118895376407, + 1768.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1195.309965748994, + 1767.2374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1197.9080419603474, + 1765.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1200.5061181717008, + 1764.2374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1203.1041943830542, + 1762.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1205.7022705944075, + 1761.2374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1208.300346805761, + 1759.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1210.8984230171143, + 1758.2374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1213.4964992284677, + 1756.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1216.094575439821, + 1755.2374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1218.6926516511744, + 1753.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1221.2907278625278, + 1752.2374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1223.8888040738811, + 1750.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1226.4868802852345, + 1749.2374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1229.084956496588, + 1747.7374971761608, + 57.014679177061076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1231.6830327079413, + 1746.2374971761608, + 57.014679177061076 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1260.0, + 1736.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-24-27_1689567578/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-24-27_1689567578/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2280f67e2fa89de169c6ce4adaecc0c1b96d56b8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-24-27_1689567578/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1590.3638045139428, + -1610.9455302044362, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1591.8638045139428, + -1608.3474539930828, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1593.3638045139428, + -1605.7493777817294, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1594.8638045139428, + -1603.151301570376, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1596.3638045139428, + -1600.5532253590227, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1597.8638045139428, + -1597.9551491476693, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1599.3638045139428, + -1595.357072936316, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1600.8638045139428, + -1592.7589967249626, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1602.3638045139428, + -1590.1609205136092, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1603.8638045139428, + -1587.5628443022558, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1605.3638045139428, + -1584.9647680909025, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1606.8638045139428, + -1582.366691879549, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1608.3638045139428, + -1579.7686156681957, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1609.8638045139428, + -1577.1705394568423, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1611.3638045139428, + -1574.572463245489, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1612.8638045139428, + -1571.9743870341356, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1614.3638045139428, + -1569.3763108227822, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1615.8638045139428, + -1566.7782346114288, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1617.3638045139428, + -1564.1801584000755, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1618.8638045139428, + -1561.582082188722, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1620.3638045139428, + -1558.9840059773687, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1621.8638045139428, + -1556.3859297660154, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1623.3638045139428, + -1553.787853554662, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1624.8638045139428, + -1551.1897773433086, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1626.3638045139428, + -1548.5917011319552, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1627.8638045139428, + -1545.9936249206019, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1629.3638045139428, + -1543.3955487092485, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1630.8638045139428, + -1540.7974724978951, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1632.3638045139428, + -1538.1993962865417, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1633.8638045139428, + -1535.6013200751884, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1635.3638045139428, + -1533.003243863835, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1636.8638045139428, + -1530.4051676524816, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1638.3638045139428, + -1527.8070914411283, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1639.8638045139428, + -1525.2090152297749, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1641.3638045139428, + -1522.6109390184215, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1642.8638045139428, + -1520.0128628070681, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1644.3638045139428, + -1517.4147865957148, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1645.8638045139428, + -1514.8167103843614, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1647.3638045139428, + -1512.218634173008, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1648.8638045139428, + -1509.6205579616546, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1650.3638045139428, + -1507.0224817503013, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1651.8638045139428, + -1504.424405538948, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1653.3638045139428, + -1501.8263293275945, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1654.8638045139428, + -1499.2282531162411, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1656.3638045139428, + -1496.6301769048878, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1657.8638045139428, + -1494.0321006935344, + 48.25313078557269 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1657.8638045139428, + -1494.0321006935344, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1660.4618807252962, + -1492.5321006935344, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1663.0599569366495, + -1491.0321006935344, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1665.658033148003, + -1489.5321006935344, + 48.25313078557269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1668.2561093593563, + -1488.0321006935344, + 48.25313078557269 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1684.0, + -1464.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-28-27_1174928311/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-28-27_1174928311/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..236bc6b559005d31f5c103b9455d23aa896d36d7 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-28-27_1174928311/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 556.0771938014383, + 1080.0361120262312, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 557.5771938014383, + 1077.4380358148778, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 559.0771938014383, + 1074.8399596035244, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 560.5771938014383, + 1072.241883392171, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 562.0771938014383, + 1069.6438071808177, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 563.5771938014383, + 1067.0457309694643, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 565.0771938014383, + 1064.447654758111, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 566.5771938014383, + 1061.8495785467576, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 568.0771938014383, + 1059.2515023354042, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 569.5771938014383, + 1056.6534261240508, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 571.0771938014383, + 1054.0553499126975, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 572.5771938014383, + 1051.457273701344, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 574.0771938014383, + 1048.8591974899907, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 575.5771938014383, + 1046.2611212786373, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 577.0771938014383, + 1043.663045067284, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 578.5771938014383, + 1041.0649688559306, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 580.0771938014383, + 1038.4668926445772, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 581.5771938014383, + 1035.8688164332239, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 583.0771938014383, + 1033.2707402218705, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 584.5771938014383, + 1030.672664010517, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 586.0771938014383, + 1028.0745877991637, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 587.5771938014383, + 1025.4765115878104, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 589.0771938014383, + 1022.878435376457, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 590.5771938014383, + 1020.2803591651036, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 592.0771938014383, + 1017.6822829537502, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 593.5771938014383, + 1015.0842067423969, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 595.0771938014383, + 1012.4861305310435, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 596.5771938014383, + 1009.8880543196901, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 598.0771938014383, + 1007.2899781083368, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 599.5771938014383, + 1004.6919018969834, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 601.0771938014383, + 1002.09382568563, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 602.5771938014383, + 999.4957494742766, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 604.0771938014383, + 996.8976732629233, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 605.5771938014383, + 994.2995970515699, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 607.0771938014383, + 991.7015208402165, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 608.5771938014383, + 989.1034446288631, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 610.0771938014383, + 986.5053684175098, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 611.5771938014383, + 983.9072922061564, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 613.0771938014383, + 981.309215994803, + 47.13524073979976 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 613.0771938014383, + 981.309215994803, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 615.6752700127915, + 979.809215994803, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 618.2733462241449, + 978.309215994803, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 620.8714224354983, + 976.809215994803, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 623.4694986468517, + 975.309215994803, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 626.067574858205, + 973.809215994803, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 628.6656510695584, + 972.309215994803, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 631.2637272809118, + 970.809215994803, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 633.8618034922652, + 969.309215994803, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 636.4598797036185, + 967.809215994803, + 47.13524073979976 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 636.4598797036185, + 967.809215994803, + 47.13524073979976 + ], + "type": "turn right", + "value": 30, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 636.4598797036185, + 967.809215994803, + 47.13524073979976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794887 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 636.4598797036185, + 964.809215994803, + 47.13524073979976 + ], + "type": "stop", + "value": 0, + "yaw": -1.570796326794887 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 656.0, + 936.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-32-17_407405279/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-32-17_407405279/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..47c97bb51797151d30ace94ec77620d293166877 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-32-17_407405279/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1554.542738102533, + -89.33467582434837, + 43.78363618899467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1557.1408143138863, + -87.83467582434837, + 43.78363618899467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1559.7388905252396, + -86.33467582434837, + 43.78363618899467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1562.336966736593, + -84.83467582434837, + 43.78363618899467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1564.9350429479464, + -83.33467582434837, + 43.78363618899467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1567.5331191592998, + -81.83467582434837, + 43.78363618899467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1570.1311953706531, + -80.33467582434837, + 43.78363618899467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1572.7292715820065, + -78.83467582434837, + 43.78363618899467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1575.3273477933599, + -77.33467582434837, + 43.78363618899467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1577.9254240047132, + -75.83467582434837, + 43.78363618899467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1580.5235002160666, + -74.33467582434837, + 43.78363618899467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1583.12157642742, + -72.83467582434837, + 43.78363618899467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1585.7196526387734, + -71.33467582434837, + 43.78363618899467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1588.3177288501267, + -69.83467582434837, + 43.78363618899467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1590.9158050614801, + -68.33467582434837, + 43.78363618899467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1593.5138812728335, + -66.83467582434837, + 43.78363618899467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1596.1119574841869, + -65.33467582434837, + 43.78363618899467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1598.7100336955402, + -63.834675824348366, + 43.78363618899467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1601.3081099068936, + -62.334675824348366, + 43.78363618899467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1603.906186118247, + -60.834675824348366, + 43.78363618899467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1606.5042623296004, + -59.334675824348366, + 43.78363618899467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1609.1023385409537, + -57.834675824348366, + 43.78363618899467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1611.700414752307, + -56.334675824348366, + 43.78363618899467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1614.2984909636605, + -54.834675824348366, + 43.78363618899467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1616.8965671750138, + -53.334675824348366, + 43.78363618899467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1619.4946433863672, + -51.834675824348366, + 43.78363618899467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1622.0927195977206, + -50.334675824348366, + 43.78363618899467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1624.690795809074, + -48.834675824348366, + 43.78363618899467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1627.2888720204273, + -47.334675824348366, + 43.78363618899467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1629.8869482317807, + -45.834675824348366, + 43.78363618899467 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1629.8869482317807, + -45.834675824348366, + 43.78363618899467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1631.3869482317807, + -43.23659961299505, + 43.78363618899467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1632.8869482317807, + -40.638523401641734, + 43.78363618899467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1634.3869482317807, + -38.04044719028842, + 43.78363618899467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1635.8869482317807, + -35.4423709789351, + 43.78363618899467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1637.3869482317807, + -32.844294767581786, + 43.78363618899467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1638.8869482317807, + -30.24621855622847, + 43.78363618899467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1640.3869482317807, + -27.648142344875154, + 43.78363618899467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1641.8869482317807, + -25.050066133521838, + 43.78363618899467 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1680.0, + 8.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-34-30_561900975/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-34-30_561900975/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c14642f0ec36b515ee74035e21f26a37398a8a1d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-34-30_561900975/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 858.9682798256, + -1286.4382510713876, + 66.719324412069 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 857.4682798256, + -1283.8401748600343, + 66.719324412069 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 855.9682798256, + -1281.242098648681, + 66.719324412069 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 854.4682798256, + -1278.6440224373275, + 66.719324412069 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 852.9682798256, + -1276.0459462259741, + 66.719324412069 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 851.4682798256, + -1273.4478700146208, + 66.719324412069 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 849.9682798256, + -1270.8497938032674, + 66.719324412069 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 848.4682798256, + -1268.251717591914, + 66.719324412069 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 846.9682798256, + -1265.6536413805607, + 66.719324412069 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 845.4682798256, + -1263.0555651692073, + 66.719324412069 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 843.9682798256, + -1260.457488957854, + 66.719324412069 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 842.4682798256, + -1257.8594127465005, + 66.719324412069 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 840.9682798256, + -1255.2613365351472, + 66.719324412069 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 839.4682798256, + -1252.6632603237938, + 66.719324412069 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 837.9682798256, + -1250.0651841124404, + 66.719324412069 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 836.4682798256, + -1247.467107901087, + 66.719324412069 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 834.9682798256, + -1244.8690316897337, + 66.719324412069 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 833.4682798256, + -1242.2709554783803, + 66.719324412069 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 831.9682798256, + -1239.672879267027, + 66.719324412069 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 831.9682798256, + -1239.672879267027, + 66.719324412069 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 829.3702036142467, + -1238.172879267027, + 66.719324412069 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 826.7721274028934, + -1236.672879267027, + 66.719324412069 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 824.17405119154, + -1235.172879267027, + 66.719324412069 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 821.5759749801866, + -1233.672879267027, + 66.719324412069 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 821.5759749801866, + -1233.672879267027, + 66.719324412069 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 820.0759749801866, + -1231.0748030556736, + 66.719324412069 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 818.5759749801866, + -1228.4767268443202, + 66.719324412069 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 768.0, + -1160.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-16-2_502070392/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-16-2_502070392/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..176df72b440983f435269822f91571c54c842802 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-16-2_502070392/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -124.48391543341421, + 557.7436645274355, + 64.08200944110935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -121.48391543341421, + 557.7436645274355, + 64.08200944110935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -118.48391543341421, + 557.7436645274355, + 64.08200944110935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -115.48391543341421, + 557.7436645274355, + 64.08200944110935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -112.48391543341421, + 557.7436645274355, + 64.08200944110935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -109.48391543341421, + 557.7436645274355, + 64.08200944110935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -106.48391543341421, + 557.7436645274355, + 64.08200944110935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -103.48391543341421, + 557.7436645274355, + 64.08200944110935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -100.48391543341421, + 557.7436645274355, + 64.08200944110935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -97.48391543341421, + 557.7436645274355, + 64.08200944110935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -94.48391543341421, + 557.7436645274355, + 64.08200944110935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -91.48391543341421, + 557.7436645274355, + 64.08200944110935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -88.48391543341421, + 557.7436645274355, + 64.08200944110935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -85.48391543341421, + 557.7436645274355, + 64.08200944110935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -82.48391543341421, + 557.7436645274355, + 64.08200944110935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -79.48391543341421, + 557.7436645274355, + 64.08200944110935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -76.48391543341421, + 557.7436645274355, + 64.08200944110935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -73.48391543341421, + 557.7436645274355, + 64.08200944110935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -70.48391543341421, + 557.7436645274355, + 64.08200944110935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -67.48391543341421, + 557.7436645274355, + 64.08200944110935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -64.48391543341421, + 557.7436645274355, + 64.08200944110935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -61.48391543341421, + 557.7436645274355, + 64.08200944110935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -58.48391543341421, + 557.7436645274355, + 64.08200944110935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -55.48391543341421, + 557.7436645274355, + 64.08200944110935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -52.48391543341421, + 557.7436645274355, + 64.08200944110935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -49.48391543341421, + 557.7436645274355, + 64.08200944110935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -46.48391543341421, + 557.7436645274355, + 64.08200944110935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -43.48391543341421, + 557.7436645274355, + 64.08200944110935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -40.48391543341421, + 557.7436645274355, + 64.08200944110935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -37.48391543341421, + 557.7436645274355, + 64.08200944110935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -34.48391543341421, + 557.7436645274355, + 64.08200944110935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -31.48391543341421, + 557.7436645274355, + 64.08200944110935 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -31.48391543341421, + 557.7436645274355, + 64.08200944110935 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -31.48391543341421, + 557.7436645274355, + 64.08200944110935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -29.98391543341421, + 560.3417407387888, + 64.08200944110935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -28.48391543341421, + 562.9398169501421, + 64.08200944110935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -26.98391543341421, + 565.5378931614955, + 64.08200944110935 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -26.98391543341421, + 565.5378931614955, + 64.08200944110935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -24.385839222060895, + 567.0378931614955, + 64.08200944110935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -21.78776301070758, + 568.5378931614955, + 64.08200944110935 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.0, + 576.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-29-19_1846409938/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-29-19_1846409938/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1465829ba904b6fc9b4c15686cfe07e1592c58d6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-29-19_1846409938/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 363.4796141531899, + 1763.0266840677837, + 62.38720559462641 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 360.8815379418366, + 1764.5266840677837, + 62.38720559462641 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 358.2834617304833, + 1766.0266840677837, + 62.38720559462641 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 355.68538551912997, + 1767.5266840677837, + 62.38720559462641 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 353.08730930777665, + 1769.0266840677837, + 62.38720559462641 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 350.48923309642333, + 1770.5266840677837, + 62.38720559462641 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 347.89115688507, + 1772.0266840677837, + 62.38720559462641 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 345.2930806737167, + 1773.5266840677837, + 62.38720559462641 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 342.6950044623634, + 1775.0266840677837, + 62.38720559462641 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 340.09692825101007, + 1776.5266840677837, + 62.38720559462641 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 337.49885203965675, + 1778.0266840677837, + 62.38720559462641 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 334.90077582830344, + 1779.5266840677837, + 62.38720559462641 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 332.3026996169501, + 1781.0266840677837, + 62.38720559462641 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 329.7046234055968, + 1782.5266840677837, + 62.38720559462641 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 327.1065471942435, + 1784.0266840677837, + 62.38720559462641 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 327.1065471942435, + 1784.0266840677837, + 62.38720559462641 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 325.6065471942435, + 1786.624760279137, + 62.38720559462641 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 324.1065471942435, + 1789.2228364904904, + 62.38720559462641 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 322.6065471942435, + 1791.8209127018438, + 62.38720559462641 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 321.1065471942435, + 1794.4189889131972, + 62.38720559462641 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 319.6065471942435, + 1797.0170651245505, + 62.38720559462641 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 228.0, + 1876.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-40-57_1385090717/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-40-57_1385090717/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d65f35c2161399bf834cb47479d63530e051e988 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-40-57_1385090717/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 493.063555228926, + -572.2087340313354, + 41.26044222995518 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 490.063555228926, + -572.2087340313354, + 41.26044222995518 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 487.063555228926, + -572.2087340313354, + 41.26044222995518 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 484.063555228926, + -572.2087340313354, + 41.26044222995518 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 481.063555228926, + -572.2087340313354, + 41.26044222995518 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 478.063555228926, + -572.2087340313354, + 41.26044222995518 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 475.063555228926, + -572.2087340313354, + 41.26044222995518 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 472.063555228926, + -572.2087340313354, + 41.26044222995518 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 469.063555228926, + -572.2087340313354, + 41.26044222995518 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 466.063555228926, + -572.2087340313354, + 41.26044222995518 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 463.063555228926, + -572.2087340313354, + 41.26044222995518 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 460.063555228926, + -572.2087340313354, + 41.26044222995518 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 457.063555228926, + -572.2087340313354, + 41.26044222995518 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 454.063555228926, + -572.2087340313354, + 41.26044222995518 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 451.063555228926, + -572.2087340313354, + 41.26044222995518 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 448.063555228926, + -572.2087340313354, + 41.26044222995518 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 445.063555228926, + -572.2087340313354, + 41.26044222995518 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 442.063555228926, + -572.2087340313354, + 41.26044222995518 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 439.063555228926, + -572.2087340313354, + 41.26044222995518 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 436.063555228926, + -572.2087340313354, + 41.26044222995518 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 433.063555228926, + -572.2087340313354, + 41.26044222995518 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 430.063555228926, + -572.2087340313354, + 41.26044222995518 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 427.063555228926, + -572.2087340313354, + 41.26044222995518 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 424.063555228926, + -572.2087340313354, + 41.26044222995518 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 421.063555228926, + -572.2087340313354, + 41.26044222995518 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 418.063555228926, + -572.2087340313354, + 41.26044222995518 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 415.063555228926, + -572.2087340313354, + 41.26044222995518 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 412.063555228926, + -572.2087340313354, + 41.26044222995518 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 409.063555228926, + -572.2087340313354, + 41.26044222995518 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 406.063555228926, + -572.2087340313354, + 41.26044222995518 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 403.063555228926, + -572.2087340313354, + 41.26044222995518 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 400.063555228926, + -572.2087340313354, + 41.26044222995518 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 397.063555228926, + -572.2087340313354, + 41.26044222995518 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 394.063555228926, + -572.2087340313354, + 41.26044222995518 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 394.063555228926, + -572.2087340313354, + 41.26044222995518 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 394.063555228926, + -572.2087340313354, + 41.26044222995518 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 392.563555228926, + -574.8068102426887, + 41.26044222995518 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 391.063555228926, + -577.4048864540421, + 41.26044222995518 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 391.063555228926, + -577.4048864540421, + 41.26044222995518 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 388.4654790175727, + -578.9048864540421, + 41.26044222995518 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 385.8674028062194, + -580.4048864540421, + 41.26044222995518 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 332.0, + -584.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-43-17_1654875286/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-43-17_1654875286/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..888c9d89d14b34ab80567b5455df04f64d928811 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-43-17_1654875286/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1778.9881137129098, + -273.0946024688184, + 57.00081500887052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1781.5861899242632, + -274.5946024688184, + 57.00081500887052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1784.1842661356166, + -276.0946024688184, + 57.00081500887052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1786.78234234697, + -277.5946024688184, + 57.00081500887052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1789.3804185583233, + -279.0946024688184, + 57.00081500887052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1791.9784947696767, + -280.5946024688184, + 57.00081500887052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1794.57657098103, + -282.0946024688184, + 57.00081500887052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1797.1746471923834, + -283.5946024688184, + 57.00081500887052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1799.7727234037368, + -285.0946024688184, + 57.00081500887052 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1928.0, + -352.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_22-10-15_1192376263/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_22-10-15_1192376263/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0aea80a84b1850dd809758778ab459af29ef55e0 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_22-10-15_1192376263/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1333.5857560014142, + -1102.1010166270594, + 52.4766278402716 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1332.0857560014142, + -1099.502940415706, + 52.4766278402716 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1330.5857560014142, + -1096.9048642043526, + 52.4766278402716 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1329.0857560014142, + -1094.3067879929993, + 52.4766278402716 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1327.5857560014142, + -1091.708711781646, + 52.4766278402716 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1326.0857560014142, + -1089.1106355702925, + 52.4766278402716 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1324.5857560014142, + -1086.5125593589391, + 52.4766278402716 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1323.0857560014142, + -1083.9144831475858, + 52.4766278402716 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1321.5857560014142, + -1081.3164069362324, + 52.4766278402716 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1320.0857560014142, + -1078.718330724879, + 52.4766278402716 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1318.5857560014142, + -1076.1202545135257, + 52.4766278402716 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1317.0857560014142, + -1073.5221783021723, + 52.4766278402716 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1315.5857560014142, + -1070.924102090819, + 52.4766278402716 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1314.0857560014142, + -1068.3260258794655, + 52.4766278402716 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1312.5857560014142, + -1065.7279496681122, + 52.4766278402716 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1311.0857560014142, + -1063.1298734567588, + 52.4766278402716 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1309.5857560014142, + -1060.5317972454054, + 52.4766278402716 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1308.0857560014142, + -1057.933721034052, + 52.4766278402716 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1306.5857560014142, + -1055.3356448226987, + 52.4766278402716 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1305.0857560014142, + -1052.7375686113453, + 52.4766278402716 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1303.5857560014142, + -1050.139492399992, + 52.4766278402716 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1302.0857560014142, + -1047.5414161886386, + 52.4766278402716 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1300.5857560014142, + -1044.9433399772852, + 52.4766278402716 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1299.0857560014142, + -1042.3452637659318, + 52.4766278402716 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1297.5857560014142, + -1039.7471875545784, + 52.4766278402716 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1296.0857560014142, + -1037.149111343225, + 52.4766278402716 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1294.5857560014142, + -1034.5510351318717, + 52.4766278402716 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1248.0, + -964.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_22-23-22_2000245409/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_22-23-22_2000245409/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e45e26f258a268e1cfff6dbe3c8e93cca22804e9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_22-23-22_2000245409/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1289.398403131641, + 124.75014781816003, + 49.97609697692707 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1287.898403131641, + 127.34822402951335, + 49.97609697692707 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1286.398403131641, + 129.94630024086666, + 49.97609697692707 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1284.898403131641, + 132.54437645221998, + 49.97609697692707 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1283.398403131641, + 135.1424526635733, + 49.97609697692707 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1281.898403131641, + 137.7405288749266, + 49.97609697692707 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1280.398403131641, + 140.33860508627993, + 49.97609697692707 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1278.898403131641, + 142.93668129763324, + 49.97609697692707 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1277.398403131641, + 145.53475750898656, + 49.97609697692707 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1275.898403131641, + 148.13283372033987, + 49.97609697692707 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1274.398403131641, + 150.7309099316932, + 49.97609697692707 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1272.898403131641, + 153.3289861430465, + 49.97609697692707 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1271.398403131641, + 155.92706235439982, + 49.97609697692707 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1269.898403131641, + 158.52513856575314, + 49.97609697692707 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1268.398403131641, + 161.12321477710645, + 49.97609697692707 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1266.898403131641, + 163.72129098845977, + 49.97609697692707 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1265.398403131641, + 166.3193671998131, + 49.97609697692707 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1263.898403131641, + 168.9174434111664, + 49.97609697692707 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1262.398403131641, + 171.51551962251972, + 49.97609697692707 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1260.898403131641, + 174.11359583387303, + 49.97609697692707 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1259.398403131641, + 176.71167204522635, + 49.97609697692707 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1257.898403131641, + 179.30974825657967, + 49.97609697692707 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1256.398403131641, + 181.90782446793298, + 49.97609697692707 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1254.898403131641, + 184.5059006792863, + 49.97609697692707 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1253.398403131641, + 187.10397689063961, + 49.97609697692707 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1251.898403131641, + 189.70205310199293, + 49.97609697692707 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1250.398403131641, + 192.30012931334625, + 49.97609697692707 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1248.898403131641, + 194.89820552469956, + 49.97609697692707 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1247.398403131641, + 197.49628173605288, + 49.97609697692707 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1247.398403131641, + 197.49628173605288, + 49.97609697692707 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1247.398403131641, + 200.49628173605288, + 49.97609697692707 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1247.398403131641, + 203.49628173605288, + 49.97609697692707 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1247.398403131641, + 206.49628173605288, + 49.97609697692707 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1247.398403131641, + 209.49628173605288, + 49.97609697692707 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1247.398403131641, + 212.49628173605288, + 49.97609697692707 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1247.398403131641, + 215.49628173605288, + 49.97609697692707 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1220.0, + 280.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_22-36-42_1951817537/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_22-36-42_1951817537/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..445376bcb90a907682c3bf050dfd2b95fb1fffc0 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_22-36-42_1951817537/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1338.9921616726926, + 305.23459608363646, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1341.590237884046, + 303.73459608363646, + 47.13012832067095 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1341.590237884046, + 303.73459608363646, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1343.090237884046, + 301.13651987228315, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1344.590237884046, + 298.53844366092983, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1346.090237884046, + 295.9403674495765, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1347.590237884046, + 293.3422912382232, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1349.090237884046, + 290.7442150268699, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1350.590237884046, + 288.14613881551657, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1352.090237884046, + 285.54806260416325, + 47.13012832067095 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1352.090237884046, + 285.54806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1354.6883140953994, + 284.04806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1357.2863903067528, + 282.54806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1359.8844665181061, + 281.04806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1362.4825427294595, + 279.54806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1365.0806189408129, + 278.04806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1367.6786951521663, + 276.54806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1370.2767713635196, + 275.04806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1372.874847574873, + 273.54806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1375.4729237862264, + 272.04806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1378.0709999975797, + 270.54806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1380.6690762089331, + 269.04806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1383.2671524202865, + 267.54806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1385.8652286316399, + 266.04806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1388.4633048429932, + 264.54806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1391.0613810543466, + 263.04806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1393.6594572657, + 261.54806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1396.2575334770534, + 260.04806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1398.8556096884067, + 258.54806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1401.45368589976, + 257.04806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1404.0517621111135, + 255.54806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1406.6498383224668, + 254.04806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1409.2479145338202, + 252.54806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1411.8459907451736, + 251.04806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1414.444066956527, + 249.54806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1417.0421431678803, + 248.04806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1419.6402193792337, + 246.54806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1422.238295590587, + 245.04806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1424.8363718019405, + 243.54806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1427.4344480132938, + 242.04806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1430.0325242246472, + 240.54806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1432.6306004360006, + 239.04806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1435.228676647354, + 237.54806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1437.8267528587073, + 236.04806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1440.4248290700607, + 234.54806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1443.022905281414, + 233.04806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1445.6209814927674, + 231.54806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1448.2190577041208, + 230.04806260416325, + 47.13012832067095 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1448.2190577041208, + 230.04806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1451.2190577041208, + 230.04806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1454.2190577041208, + 230.04806260416325, + 47.13012832067095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1457.2190577041208, + 230.04806260416325, + 47.13012832067095 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1472.0, + 220.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_22-38-17_1574831224/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_22-38-17_1574831224/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b489774f986fa66437999a520136095681174568 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_22-38-17_1574831224/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 12.131009901878613, + -427.04659710877166, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 10.631009901878613, + -424.44852089741835, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 9.131009901878613, + -421.85044468606503, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 7.631009901878614, + -419.2523684747117, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 6.131009901878615, + -416.6542922633584, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4.631009901878616, + -414.0562160520051, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3.131009901878617, + -411.45813984065177, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1.6310099018786175, + -408.86006362929845, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 0.13100990187861816, + -406.26198741794514, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1.3689900981213812, + -403.6639112065918, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2.8689900981213805, + -401.0658349952385, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -4.36899009812138, + -398.4677587838852, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -5.868990098121379, + -395.8696825725319, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -7.368990098121378, + -393.27160636117856, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -8.868990098121378, + -390.67353014982524, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -10.368990098121378, + -388.0754539384719, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -11.868990098121378, + -385.4773777271186, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -13.368990098121378, + -382.8793015157653, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -14.868990098121378, + -380.281225304412, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -16.368990098121376, + -377.68314909305866, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393195 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -17.868990098121376, + -375.08507288170534, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -19.368990098121376, + -372.486996670352, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -20.868990098121376, + -369.8889204589987, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -22.368990098121376, + -367.2908442476454, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -23.868990098121376, + -364.6927680362921, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -25.368990098121376, + -362.09469182493876, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -26.868990098121376, + -359.49661561358545, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -28.368990098121376, + -356.89853940223213, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -29.868990098121376, + -354.3004631908788, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -31.368990098121376, + -351.7023869795255, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -32.86899009812137, + -349.1043107681722, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -34.36899009812137, + -346.50623455681887, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -35.86899009812137, + -343.90815834546555, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -37.36899009812137, + -341.31008213411224, + 49.67827668741492 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -37.36899009812137, + -341.31008213411224, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -37.36899009812137, + -338.31008213411224, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -37.36899009812137, + -335.31008213411224, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -37.36899009812137, + -332.31008213411224, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -37.36899009812137, + -329.31008213411224, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -37.36899009812137, + -326.31008213411224, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -37.36899009812137, + -323.31008213411224, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -37.36899009812137, + -320.31008213411224, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -37.36899009812137, + -317.31008213411224, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -37.36899009812137, + -314.31008213411224, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -37.36899009812137, + -311.31008213411224, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -37.36899009812137, + -308.31008213411224, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -37.36899009812137, + -305.31008213411224, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -37.36899009812137, + -302.31008213411224, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -37.36899009812137, + -299.31008213411224, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -37.36899009812137, + -296.31008213411224, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -37.36899009812137, + -293.31008213411224, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -37.36899009812137, + -290.31008213411224, + 49.67827668741492 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -37.36899009812137, + -287.31008213411224, + 49.67827668741492 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -44.0, + -264.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_22-43-47_991034551/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_22-43-47_991034551/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..de4b132dc86a0d1fc7672b04625569a9a5052e15 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_22-43-47_991034551/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -550.8249313762433, + -1273.601770614343, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -548.2268551648899, + -1275.101770614343, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -545.6287789535365, + -1276.601770614343, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -543.0307027421832, + -1278.101770614343, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -540.4326265308298, + -1279.601770614343, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -537.8345503194764, + -1281.101770614343, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -535.236474108123, + -1282.601770614343, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -532.6383978967697, + -1284.101770614343, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -530.0403216854163, + -1285.601770614343, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -527.4422454740629, + -1287.101770614343, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -524.8441692627096, + -1288.601770614343, + 47.35718000473471 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -524.8441692627096, + -1288.601770614343, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -523.3441692627096, + -1291.1998468256963, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -521.8441692627096, + -1293.7979230370497, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -520.3441692627096, + -1296.395999248403, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -518.8441692627096, + -1298.9940754597565, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -517.3441692627096, + -1301.5921516711098, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -515.8441692627096, + -1304.1902278824632, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -514.3441692627096, + -1306.7883040938166, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -512.8441692627096, + -1309.38638030517, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -511.34416926270956, + -1311.9844565165233, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -509.84416926270956, + -1314.5825327278767, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -508.34416926270956, + -1317.18060893923, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -506.84416926270956, + -1319.7786851505834, + 47.35718000473471 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -506.84416926270956, + -1319.7786851505834, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -506.84416926270956, + -1322.7786851505834, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -506.84416926270956, + -1325.7786851505834, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -506.84416926270956, + -1328.7786851505834, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -506.84416926270956, + -1331.7786851505834, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -506.84416926270956, + -1334.7786851505834, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -506.84416926270956, + -1337.7786851505834, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -506.84416926270956, + -1340.7786851505834, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -506.84416926270956, + -1343.7786851505834, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -506.84416926270956, + -1346.7786851505834, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -506.84416926270956, + -1349.7786851505834, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -506.84416926270956, + -1352.7786851505834, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -506.84416926270956, + -1355.7786851505834, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -506.84416926270956, + -1358.7786851505834, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -506.84416926270956, + -1361.7786851505834, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -506.84416926270956, + -1364.7786851505834, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -506.84416926270956, + -1367.7786851505834, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -506.84416926270956, + -1370.7786851505834, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -506.84416926270956, + -1373.7786851505834, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -506.84416926270956, + -1376.7786851505834, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -506.84416926270956, + -1379.7786851505834, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -506.84416926270956, + -1382.7786851505834, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -506.84416926270956, + -1385.7786851505834, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -506.84416926270956, + -1388.7786851505834, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -506.84416926270956, + -1391.7786851505834, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -506.84416926270956, + -1394.7786851505834, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -506.84416926270956, + -1397.7786851505834, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -506.84416926270956, + -1400.7786851505834, + 47.35718000473471 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -506.84416926270956, + -1400.7786851505834, + 47.35718000473471 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -505.34416926270956, + -1403.3767613619368, + 47.35718000473471 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -496.0, + -1428.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_22-45-43_266911191/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_22-45-43_266911191/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a4851d2615abcdab8780d5b3884eb33792b1a197 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_22-45-43_266911191/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 175.67144212805295, + 1719.515111411638, + 46.75606637759574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 177.17144212805295, + 1722.1131876229913, + 46.75606637759574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 178.67144212805295, + 1724.7112638343447, + 46.75606637759574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 180.17144212805295, + 1727.309340045698, + 46.75606637759574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 181.67144212805295, + 1729.9074162570514, + 46.75606637759574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 183.17144212805295, + 1732.5054924684048, + 46.75606637759574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 184.67144212805295, + 1735.1035686797582, + 46.75606637759574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 186.17144212805295, + 1737.7016448911115, + 46.75606637759574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 187.67144212805295, + 1740.299721102465, + 46.75606637759574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 189.17144212805295, + 1742.8977973138183, + 46.75606637759574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 190.67144212805295, + 1745.4958735251716, + 46.75606637759574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 192.17144212805295, + 1748.093949736525, + 46.75606637759574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 193.67144212805295, + 1750.6920259478784, + 46.75606637759574 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 193.67144212805295, + 1750.6920259478784, + 46.75606637759574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 193.67144212805295, + 1753.6920259478784, + 46.75606637759574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 193.67144212805295, + 1756.6920259478784, + 46.75606637759574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 193.67144212805295, + 1759.6920259478784, + 46.75606637759574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 193.67144212805295, + 1762.6920259478784, + 46.75606637759574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 193.67144212805295, + 1765.6920259478784, + 46.75606637759574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 193.67144212805295, + 1768.6920259478784, + 46.75606637759574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 193.67144212805295, + 1771.6920259478784, + 46.75606637759574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 193.67144212805295, + 1774.6920259478784, + 46.75606637759574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 193.67144212805295, + 1777.6920259478784, + 46.75606637759574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 193.67144212805295, + 1780.6920259478784, + 46.75606637759574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 193.67144212805295, + 1783.6920259478784, + 46.75606637759574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 193.67144212805295, + 1786.6920259478784, + 46.75606637759574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 193.67144212805295, + 1789.6920259478784, + 46.75606637759574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 193.67144212805295, + 1792.6920259478784, + 46.75606637759574 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 193.67144212805295, + 1792.6920259478784, + 46.75606637759574 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 193.67144212805295, + 1792.6920259478784, + 46.75606637759574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 196.26951833940626, + 1794.1920259478784, + 46.75606637759574 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 196.26951833940626, + 1794.1920259478784, + 46.75606637759574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 197.76951833940626, + 1796.7901021592318, + 46.75606637759574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 199.26951833940626, + 1799.3881783705851, + 46.75606637759574 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 228.0, + 1876.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_23-14-5_1657617320/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_23-14-5_1657617320/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..525bb98e918db3d113f5461e3516af4e169be740 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_23-14-5_1657617320/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1484.0808126405464, + -1397.0930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1487.0808126405464, + -1397.0930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1490.0808126405464, + -1397.0930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1493.0808126405464, + -1397.0930296078297, + 45.931551982664246 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1493.0808126405464, + -1397.0930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1495.6788888518997, + -1398.5930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1498.276965063253, + -1400.0930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1500.8750412746065, + -1401.5930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1503.4731174859598, + -1403.0930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1506.0711936973132, + -1404.5930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1508.6692699086666, + -1406.0930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1511.26734612002, + -1407.5930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1513.8654223313733, + -1409.0930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1516.4634985427267, + -1410.5930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1519.06157475408, + -1412.0930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1521.6596509654335, + -1413.5930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1524.2577271767868, + -1415.0930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1526.8558033881402, + -1416.5930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1529.4538795994936, + -1418.0930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1532.051955810847, + -1419.5930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1534.6500320222003, + -1421.0930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1537.2481082335537, + -1422.5930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1539.846184444907, + -1424.0930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1542.4442606562604, + -1425.5930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1545.0423368676138, + -1427.0930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1547.6404130789672, + -1428.5930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1550.2384892903206, + -1430.0930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1552.836565501674, + -1431.5930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1555.4346417130273, + -1433.0930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1558.0327179243807, + -1434.5930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1560.630794135734, + -1436.0930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1563.2288703470874, + -1437.5930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1565.8269465584408, + -1439.0930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1568.4250227697942, + -1440.5930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1571.0230989811475, + -1442.0930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1573.621175192501, + -1443.5930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1576.2192514038543, + -1445.0930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1578.8173276152077, + -1446.5930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1581.415403826561, + -1448.0930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1584.0134800379144, + -1449.5930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1586.6115562492678, + -1451.0930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1589.2096324606212, + -1452.5930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1591.8077086719745, + -1454.0930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1594.405784883328, + -1455.5930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1597.0038610946813, + -1457.0930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1599.6019373060346, + -1458.5930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1602.200013517388, + -1460.0930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1604.7980897287414, + -1461.5930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1607.3961659400948, + -1463.0930296078297, + 45.931551982664246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1609.9942421514481, + -1464.5930296078297, + 45.931551982664246 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1628.0, + -1476.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-13-31_1626870461/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-13-31_1626870461/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d6061cda8d23667d8da9269eb135bb8aef8e7b2f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-13-31_1626870461/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1534.901778830411, + -310.87048228312597, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1532.3037026190577, + -312.37048228312597, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1529.7056264077044, + -313.87048228312597, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1527.107550196351, + -315.37048228312597, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1524.5094739849976, + -316.87048228312597, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1521.9113977736442, + -318.37048228312597, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1519.3133215622909, + -319.87048228312597, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1516.7152453509375, + -321.37048228312597, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1514.1171691395841, + -322.87048228312597, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1511.5190929282307, + -324.37048228312597, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1508.9210167168774, + -325.87048228312597, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1506.322940505524, + -327.37048228312597, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1503.7248642941706, + -328.87048228312597, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1501.1267880828173, + -330.37048228312597, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1498.5287118714639, + -331.87048228312597, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1495.9306356601105, + -333.37048228312597, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1493.3325594487571, + -334.87048228312597, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1490.7344832374038, + -336.37048228312597, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1488.1364070260504, + -337.87048228312597, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1485.538330814697, + -339.37048228312597, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1482.9402546033436, + -340.87048228312597, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1480.3421783919903, + -342.37048228312597, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1477.744102180637, + -343.87048228312597, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1475.1460259692835, + -345.37048228312597, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1472.5479497579302, + -346.87048228312597, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1469.9498735465768, + -348.37048228312597, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1467.3517973352234, + -349.87048228312597, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1464.75372112387, + -351.37048228312597, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1462.1556449125167, + -352.87048228312597, + 68.92309231370271 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1462.1556449125167, + -352.87048228312597, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1460.6556449125167, + -355.4685584944793, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1459.1556449125167, + -358.0666347058326, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1457.6556449125167, + -360.6647109171859, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1456.1556449125167, + -363.26278712853923, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1454.6556449125167, + -365.86086333989255, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1453.1556449125167, + -368.45893955124586, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1451.6556449125167, + -371.0570157625992, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1450.1556449125167, + -373.6550919739525, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1448.6556449125167, + -376.2531681853058, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1447.1556449125167, + -378.8512443966591, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1445.6556449125167, + -381.44932060801244, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1444.1556449125167, + -384.04739681936576, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1442.6556449125167, + -386.6454730307191, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1441.1556449125167, + -389.2435492420724, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1439.6556449125167, + -391.8416254534257, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1438.1556449125167, + -394.439701664779, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1436.6556449125167, + -397.03777787613234, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1435.1556449125167, + -399.63585408748565, + 68.92309231370271 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1433.6556449125167, + -402.23393029883897, + 68.92309231370271 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1404.0, + -432.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-15-28_699045063/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-15-28_699045063/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8bea4ca4b7eac5abc77d8f0078be0de482500de1 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-15-28_699045063/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1678.4481328914683, + 1323.5480154005622, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1676.9481328914683, + 1320.9499391892089, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1675.4481328914683, + 1318.3518629778555, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1673.9481328914683, + 1315.7537867665021, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1672.4481328914683, + 1313.1557105551487, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1670.9481328914683, + 1310.5576343437954, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1669.4481328914683, + 1307.959558132442, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1667.9481328914683, + 1305.3614819210886, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1666.4481328914683, + 1302.7634057097353, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1664.9481328914683, + 1300.1653294983819, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1663.4481328914683, + 1297.5672532870285, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1661.9481328914683, + 1294.9691770756751, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1660.4481328914683, + 1292.3711008643218, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1658.9481328914683, + 1289.7730246529684, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1657.4481328914683, + 1287.174948441615, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1655.9481328914683, + 1284.5768722302616, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1654.4481328914683, + 1281.9787960189083, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1652.9481328914683, + 1279.380719807555, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1651.4481328914683, + 1276.7826435962015, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1649.9481328914683, + 1274.1845673848482, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1648.4481328914683, + 1271.5864911734948, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1646.9481328914683, + 1268.9884149621414, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1645.4481328914683, + 1266.390338750788, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1643.9481328914683, + 1263.7922625394347, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1642.4481328914683, + 1261.1941863280813, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1640.9481328914683, + 1258.596110116728, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1639.4481328914683, + 1255.9980339053745, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1637.9481328914683, + 1253.3999576940212, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1636.4481328914683, + 1250.8018814826678, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1634.9481328914683, + 1248.2038052713144, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1633.4481328914683, + 1245.605729059961, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1631.9481328914683, + 1243.0076528486077, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1630.4481328914683, + 1240.4095766372543, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1628.9481328914683, + 1237.811500425901, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1627.4481328914683, + 1235.2134242145476, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1625.9481328914683, + 1232.6153480031942, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1624.4481328914683, + 1230.0172717918408, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1622.9481328914683, + 1227.4191955804874, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1621.4481328914683, + 1224.821119369134, + 47.75111593966109 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1621.4481328914683, + 1224.821119369134, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1618.850056680115, + 1223.321119369134, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1616.2519804687615, + 1221.821119369134, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1613.6539042574082, + 1220.321119369134, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1611.0558280460548, + 1218.821119369134, + 47.75111593966109 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1608.4577518347014, + 1217.321119369134, + 47.75111593966109 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1592.0, + 1196.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-2-50_717032538/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-2-50_717032538/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d1c67382e6c182ac659d492c95a97333179384ad --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-2-50_717032538/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1000.3003981352156, + -18.709543981791086, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 998.8003981352156, + -21.307620193144402, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 997.3003981352156, + -23.905696404497718, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 995.8003981352156, + -26.503772615851034, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 994.3003981352156, + -29.10184882720435, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 992.8003981352156, + -31.699925038557666, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 991.3003981352156, + -34.29800124991098, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 989.8003981352156, + -36.8960774612643, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 988.3003981352156, + -39.494153672617614, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 986.8003981352156, + -42.09222988397093, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 985.3003981352156, + -44.690306095324246, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 983.8003981352156, + -47.28838230667756, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 982.3003981352156, + -49.88645851803088, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 980.8003981352156, + -52.484534729384194, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 979.3003981352156, + -55.08261094073751, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 977.8003981352156, + -57.680687152090826, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 976.3003981352156, + -60.27876336344414, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 974.8003981352156, + -62.87683957479746, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 973.3003981352156, + -65.47491578615077, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 971.8003981352156, + -68.07299199750409, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 970.3003981352156, + -70.6710682088574, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 968.8003981352156, + -73.26914442021072, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 967.3003981352156, + -75.86722063156404, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 965.8003981352156, + -78.46529684291735, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 964.3003981352156, + -81.06337305427067, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 962.8003981352156, + -83.66144926562399, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 961.3003981352156, + -86.2595254769773, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 959.8003981352156, + -88.85760168833062, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 958.3003981352156, + -91.45567789968393, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 956.8003981352156, + -94.05375411103725, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 955.3003981352156, + -96.65183032239057, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 953.8003981352156, + -99.24990653374388, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 952.3003981352156, + -101.8479827450972, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 950.8003981352156, + -104.44605895645051, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 949.3003981352156, + -107.04413516780383, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 947.8003981352156, + -109.64221137915715, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 946.3003981352156, + -112.24028759051046, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 944.8003981352156, + -114.83836380186378, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 943.3003981352156, + -117.4364400132171, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 941.8003981352156, + -120.03451622457041, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 940.3003981352156, + -122.63259243592373, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 938.8003981352156, + -125.23066864727704, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 937.3003981352156, + -127.82874485863036, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 935.8003981352156, + -130.42682106998367, + 43.67640143561748 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 935.8003981352156, + -130.42682106998367, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 933.2023219238622, + -131.92682106998367, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 930.6042457125088, + -133.42682106998367, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 928.0061695011555, + -134.92682106998367, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 925.4080932898021, + -136.42682106998367, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 922.8100170784487, + -137.92682106998367, + 43.67640143561748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 920.2119408670953, + -139.42682106998367, + 43.67640143561748 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 904.0, + -160.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-42-18_1278792724/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-42-18_1278792724/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0065ffb541e3af1691e38e468b5ccf8a597316bf --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-42-18_1278792724/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1565.5413537105464, + -296.08620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1562.943277499193, + -297.58620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1560.3452012878397, + -299.08620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1557.7471250764863, + -300.58620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1555.149048865133, + -302.08620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1552.5509726537796, + -303.58620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1549.9528964424262, + -305.08620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1547.3548202310728, + -306.58620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1544.7567440197195, + -308.08620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1542.158667808366, + -309.58620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1539.5605915970127, + -311.08620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1536.9625153856593, + -312.58620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1534.364439174306, + -314.08620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1531.7663629629526, + -315.58620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1529.1682867515992, + -317.08620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1526.5702105402459, + -318.58620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1523.9721343288925, + -320.08620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1521.374058117539, + -321.58620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1518.7759819061857, + -323.08620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1516.1779056948324, + -324.58620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1513.579829483479, + -326.08620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1510.9817532721256, + -327.58620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1508.3836770607722, + -329.08620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1505.7856008494189, + -330.58620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1503.1875246380655, + -332.08620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1500.5894484267121, + -333.58620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1497.9913722153588, + -335.08620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1495.3932960040054, + -336.58620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1492.795219792652, + -338.08620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1490.1971435812986, + -339.58620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1487.5990673699453, + -341.08620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1485.000991158592, + -342.58620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1482.4029149472385, + -344.08620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1479.8048387358851, + -345.58620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1477.2067625245318, + -347.08620878927957, + 59.28413753036608 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1477.2067625245318, + -347.08620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1474.2067625245318, + -347.08620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1471.2067625245318, + -347.08620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1468.2067625245318, + -347.08620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1465.2067625245318, + -347.08620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1462.2067625245318, + -347.08620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1459.2067625245318, + -347.08620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1456.2067625245318, + -347.08620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1453.2067625245318, + -347.08620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1450.2067625245318, + -347.08620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1447.2067625245318, + -347.08620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1444.2067625245318, + -347.08620878927957, + 59.28413753036608 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1441.2067625245318, + -347.08620878927957, + 59.28413753036608 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1400.0, + -364.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-7-38_346502533/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-7-38_346502533/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e9c83a709fccf0947056431b1f9bffa1d02f27c5 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-7-38_346502533/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 450.3121193533059, + -484.4002516484852, + 51.874444892970985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 447.7140431419526, + -485.9002516484852, + 51.874444892970985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 445.11596693059926, + -487.4002516484852, + 51.874444892970985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 442.51789071924594, + -488.9002516484852, + 51.874444892970985 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 442.51789071924594, + -488.9002516484852, + 51.874444892970985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 441.01789071924594, + -491.4983278598385, + 51.874444892970985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 439.51789071924594, + -494.09640407119184, + 51.874444892970985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 438.01789071924594, + -496.69448028254516, + 51.874444892970985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 436.51789071924594, + -499.2925564938985, + 51.874444892970985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 435.01789071924594, + -501.8906327052518, + 51.874444892970985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 433.51789071924594, + -504.4887089166051, + 51.874444892970985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 432.01789071924594, + -507.0867851279584, + 51.874444892970985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 430.51789071924594, + -509.68486133931174, + 51.874444892970985 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 430.51789071924594, + -509.68486133931174, + 51.874444892970985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 427.9198145078926, + -511.18486133931174, + 51.874444892970985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 425.3217382965393, + -512.6848613393117, + 51.874444892970985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 422.723662085186, + -514.1848613393117, + 51.874444892970985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 420.1255858738327, + -515.6848613393117, + 51.874444892970985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 417.52750966247936, + -517.1848613393117, + 51.874444892970985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 414.92943345112604, + -518.6848613393117, + 51.874444892970985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 412.33135723977273, + -520.1848613393117, + 51.874444892970985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 409.7332810284194, + -521.6848613393117, + 51.874444892970985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 407.1352048170661, + -523.1848613393117, + 51.874444892970985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 404.5371286057128, + -524.6848613393117, + 51.874444892970985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 401.93905239435946, + -526.1848613393117, + 51.874444892970985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 399.34097618300615, + -527.6848613393117, + 51.874444892970985 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 332.0, + -584.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_4-36-8_1896073990/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_4-36-8_1896073990/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b6f53d2099b4654008d7024af7a1083bccef322d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_4-36-8_1896073990/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -937.4721946791353, + -874.5528311902922, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -938.9721946791353, + -877.1509074016456, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -940.4721946791353, + -879.7489836129989, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -941.9721946791353, + -882.3470598243523, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -943.4721946791353, + -884.9451360357057, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -944.9721946791353, + -887.543212247059, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -946.4721946791353, + -890.1412884584124, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -947.9721946791353, + -892.7393646697658, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -949.4721946791353, + -895.3374408811192, + 68.87246976452214 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -949.4721946791353, + -895.3374408811192, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -952.0702708904887, + -896.8374408811192, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -954.6683471018421, + -898.3374408811192, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -957.2664233131954, + -899.8374408811192, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -959.8644995245488, + -901.3374408811192, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -962.4625757359022, + -902.8374408811192, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -965.0606519472556, + -904.3374408811192, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -967.6587281586089, + -905.8374408811192, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -970.2568043699623, + -907.3374408811192, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -972.8548805813157, + -908.8374408811192, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -975.452956792669, + -910.3374408811192, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -978.0510330040224, + -911.8374408811192, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -980.6491092153758, + -913.3374408811192, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -983.2471854267292, + -914.8374408811192, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -985.8452616380825, + -916.3374408811192, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -988.4433378494359, + -917.8374408811192, + 68.87246976452214 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -988.4433378494359, + -917.8374408811192, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -989.9433378494359, + -920.4355170924725, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -991.4433378494359, + -923.0335933038259, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -992.9433378494359, + -925.6316695151793, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -994.4433378494359, + -928.2297457265327, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -995.9433378494359, + -930.827821937886, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -997.4433378494359, + -933.4258981492394, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -998.9433378494359, + -936.0239743605928, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1000.4433378494359, + -938.6220505719461, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1001.9433378494359, + -941.2201267832995, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1003.4433378494359, + -943.8182029946529, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1004.9433378494359, + -946.4162792060063, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1006.4433378494359, + -949.0143554173596, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1007.9433378494359, + -951.612431628713, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1009.4433378494359, + -954.2105078400664, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1010.9433378494359, + -956.8085840514198, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1012.4433378494359, + -959.4066602627731, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1013.9433378494359, + -962.0047364741265, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1015.4433378494359, + -964.6028126854799, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1016.9433378494359, + -967.2008888968332, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1018.4433378494359, + -969.7989651081866, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1019.9433378494359, + -972.39704131954, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1021.4433378494359, + -974.9951175308934, + 68.87246976452214 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1022.9433378494359, + -977.5931937422467, + 68.87246976452214 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1048.0, + -1004.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_5-30-46_1438638589/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_5-30-46_1438638589/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e1b8f0eaa5743219c4aa3082fe5f6d1aa0b58ddd --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_5-30-46_1438638589/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -383.85213022042575, + 1733.063400170479, + 48.00676345342749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -382.35213022042575, + 1735.6614763818325, + 48.00676345342749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -380.85213022042575, + 1738.2595525931858, + 48.00676345342749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -379.35213022042575, + 1740.8576288045392, + 48.00676345342749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -377.85213022042575, + 1743.4557050158926, + 48.00676345342749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -376.35213022042575, + 1746.053781227246, + 48.00676345342749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -374.85213022042575, + 1748.6518574385993, + 48.00676345342749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -373.35213022042575, + 1751.2499336499527, + 48.00676345342749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -371.85213022042575, + 1753.848009861306, + 48.00676345342749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -370.35213022042575, + 1756.4460860726595, + 48.00676345342749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -368.85213022042575, + 1759.0441622840128, + 48.00676345342749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -367.35213022042575, + 1761.6422384953662, + 48.00676345342749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -365.85213022042575, + 1764.2403147067196, + 48.00676345342749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -364.35213022042575, + 1766.838390918073, + 48.00676345342749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -362.85213022042575, + 1769.4364671294263, + 48.00676345342749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -361.35213022042575, + 1772.0345433407797, + 48.00676345342749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -359.85213022042575, + 1774.632619552133, + 48.00676345342749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -358.35213022042575, + 1777.2306957634864, + 48.00676345342749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -356.85213022042575, + 1779.8287719748398, + 48.00676345342749 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -356.85213022042575, + 1779.8287719748398, + 48.00676345342749 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -354.25405400907243, + 1781.3287719748398, + 48.00676345342749 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -351.6559777977191, + 1782.8287719748398, + 48.00676345342749 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -349.0579015863658, + 1784.3287719748398, + 48.00676345342749 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -346.4598253750125, + 1785.8287719748398, + 48.00676345342749 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -343.86174916365917, + 1787.3287719748398, + 48.00676345342749 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -341.26367295230585, + 1788.8287719748398, + 48.00676345342749 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -341.26367295230585, + 1788.8287719748398, + 48.00676345342749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -339.76367295230585, + 1791.4268481861932, + 48.00676345342749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -338.26367295230585, + 1794.0249243975466, + 48.00676345342749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -336.76367295230585, + 1796.6230006089, + 48.00676345342749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -335.26367295230585, + 1799.2210768202533, + 48.00676345342749 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -276.0, + 1876.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_5-48-46_1616992200/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_5-48-46_1616992200/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3e9caaad41f769f9fc5c1e09ac2adac494df80b0 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_5-48-46_1616992200/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1241.5790951861661, + -854.9844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1238.5790951861661, + -854.9844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1235.5790951861661, + -854.9844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1232.5790951861661, + -854.9844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1229.5790951861661, + -854.9844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1226.5790951861661, + -854.9844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1223.5790951861661, + -854.9844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1220.5790951861661, + -854.9844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1217.5790951861661, + -854.9844870795936, + 55.17756937251284 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1217.5790951861661, + -854.9844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1214.9810189748127, + -853.4844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1212.3829427634594, + -851.9844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1209.784866552106, + -850.4844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1207.1867903407526, + -848.9844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1204.5887141293992, + -847.4844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1201.9906379180459, + -845.9844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1199.3925617066925, + -844.4844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1196.7944854953391, + -842.9844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1194.1964092839858, + -841.4844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1191.5983330726324, + -839.9844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1189.000256861279, + -838.4844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1186.4021806499256, + -836.9844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1183.8041044385723, + -835.4844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1181.206028227219, + -833.9844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1178.6079520158655, + -832.4844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1176.0098758045121, + -830.9844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1173.4117995931588, + -829.4844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1170.8137233818054, + -827.9844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1168.215647170452, + -826.4844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1165.6175709590987, + -824.9844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1163.0194947477453, + -823.4844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1160.421418536392, + -821.9844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1157.8233423250385, + -820.4844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1155.2252661136852, + -818.9844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1152.6271899023318, + -817.4844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1150.0291136909784, + -815.9844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1147.431037479625, + -814.4844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1144.8329612682717, + -812.9844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1142.2348850569183, + -811.4844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1139.636808845565, + -809.9844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1137.0387326342116, + -808.4844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1134.4406564228582, + -806.9844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1131.8425802115048, + -805.4844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1129.2445040001514, + -803.9844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1126.646427788798, + -802.4844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1124.0483515774447, + -800.9844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1121.4502753660913, + -799.4844870795936, + 55.17756937251284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1118.852199154738, + -797.9844870795936, + 55.17756937251284 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1100.0, + -792.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-14-33_429857344/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-14-33_429857344/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..08b0f03886491dc4e60cb3396fc369a53b24de0e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-14-33_429857344/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1734.2485633324527, + -796.44075822559, + 67.5162536431281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1737.2485633324527, + -796.44075822559, + 67.5162536431281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1740.2485633324527, + -796.44075822559, + 67.5162536431281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1743.2485633324527, + -796.44075822559, + 67.5162536431281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1746.2485633324527, + -796.44075822559, + 67.5162536431281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1749.2485633324527, + -796.44075822559, + 67.5162536431281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1752.2485633324527, + -796.44075822559, + 67.5162536431281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1755.2485633324527, + -796.44075822559, + 67.5162536431281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1758.2485633324527, + -796.44075822559, + 67.5162536431281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1761.2485633324527, + -796.44075822559, + 67.5162536431281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1764.2485633324527, + -796.44075822559, + 67.5162536431281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1767.2485633324527, + -796.44075822559, + 67.5162536431281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1770.2485633324527, + -796.44075822559, + 67.5162536431281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1773.2485633324527, + -796.44075822559, + 67.5162536431281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1776.2485633324527, + -796.44075822559, + 67.5162536431281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1779.2485633324527, + -796.44075822559, + 67.5162536431281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1782.2485633324527, + -796.44075822559, + 67.5162536431281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1785.2485633324527, + -796.44075822559, + 67.5162536431281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1788.2485633324527, + -796.44075822559, + 67.5162536431281 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1788.2485633324527, + -796.44075822559, + 67.5162536431281 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1790.846639543806, + -797.94075822559, + 67.5162536431281 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1793.4447157551595, + -799.44075822559, + 67.5162536431281 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1796.0427919665128, + -800.94075822559, + 67.5162536431281 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1798.6408681778662, + -802.44075822559, + 67.5162536431281 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1904.0, + -812.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-16-19_1554430207/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-16-19_1554430207/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3176ca729815df0d8c5710302251801081ca4d4d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-16-19_1554430207/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1788.7264787385022, + 740.078384635638, + 40.08025060180794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1790.2264787385022, + 742.6764608469914, + 40.08025060180794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1791.7264787385022, + 745.2745370583448, + 40.08025060180794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1793.2264787385022, + 747.8726132696981, + 40.08025060180794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1794.7264787385022, + 750.4706894810515, + 40.08025060180794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1796.2264787385022, + 753.0687656924049, + 40.08025060180794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1797.7264787385022, + 755.6668419037583, + 40.08025060180794 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1868.0, + 868.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-23-33_1934657902/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-23-33_1934657902/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a252747610c7ed025798ec6f4af314fff10b7988 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-23-33_1934657902/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1462.6408565453658, + -606.094252562809, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1464.1408565453658, + -608.6923287741622, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1465.6408565453658, + -611.2904049855156, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1467.1408565453658, + -613.888481196869, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1468.6408565453658, + -616.4865574082223, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1470.1408565453658, + -619.0846336195757, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1471.6408565453658, + -621.6827098309291, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1473.1408565453658, + -624.2807860422824, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1474.6408565453658, + -626.8788622536358, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1476.1408565453658, + -629.4769384649892, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1477.6408565453658, + -632.0750146763426, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1479.1408565453658, + -634.6730908876959, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1480.6408565453658, + -637.2711670990493, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1482.1408565453658, + -639.8692433104027, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1483.6408565453658, + -642.467319521756, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1485.1408565453658, + -645.0653957331094, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1486.6408565453658, + -647.6634719444628, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1488.1408565453658, + -650.2615481558162, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1489.6408565453658, + -652.8596243671695, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1491.1408565453658, + -655.4577005785229, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1492.6408565453658, + -658.0557767898763, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1494.1408565453658, + -660.6538530012297, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1495.6408565453658, + -663.251929212583, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1497.1408565453658, + -665.8500054239364, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1498.6408565453658, + -668.4480816352898, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1500.1408565453658, + -671.0461578466432, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1501.6408565453658, + -673.6442340579965, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1503.1408565453658, + -676.2423102693499, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1504.6408565453658, + -678.8403864807033, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1506.1408565453658, + -681.4384626920566, + 50.77564557960882 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1506.1408565453658, + -681.4384626920566, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1508.7389327567191, + -682.9384626920566, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1511.3370089680725, + -684.4384626920566, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1513.9350851794259, + -685.9384626920566, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1516.5331613907792, + -687.4384626920566, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1519.1312376021326, + -688.9384626920566, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1521.729313813486, + -690.4384626920566, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1524.3273900248394, + -691.9384626920566, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1526.9254662361927, + -693.4384626920566, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1529.523542447546, + -694.9384626920566, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1532.1216186588995, + -696.4384626920566, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1534.7196948702529, + -697.9384626920566, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1537.3177710816062, + -699.4384626920566, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1539.9158472929596, + -700.9384626920566, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1542.513923504313, + -702.4384626920566, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1545.1119997156663, + -703.9384626920566, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1547.7100759270197, + -705.4384626920566, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1550.308152138373, + -706.9384626920566, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1552.9062283497265, + -708.4384626920566, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1555.5043045610798, + -709.9384626920566, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1558.1023807724332, + -711.4384626920566, + 50.77564557960882 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1560.7004569837866, + -712.9384626920566, + 50.77564557960882 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1580.0, + -732.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-4-33_1162824071/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-4-33_1162824071/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5ee429a988510140af5fe802a7ee6544197b9330 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-4-33_1162824071/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1099.4876665483669, + -853.8651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1102.0857427597202, + -852.3651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1104.6838189710736, + -850.8651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1107.281895182427, + -849.3651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1109.8799713937804, + -847.8651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1112.4780476051337, + -846.3651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1115.076123816487, + -844.8651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1117.6742000278405, + -843.3651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1120.2722762391938, + -841.8651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1122.8703524505472, + -840.3651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1125.4684286619006, + -838.8651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1128.066504873254, + -837.3651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1130.6645810846073, + -835.8651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1133.2626572959607, + -834.3651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1135.860733507314, + -832.8651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1138.4588097186675, + -831.3651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1141.0568859300208, + -829.8651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1143.6549621413742, + -828.3651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1146.2530383527276, + -826.8651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1148.851114564081, + -825.3651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1151.4491907754343, + -823.8651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1154.0472669867877, + -822.3651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1156.645343198141, + -820.8651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1159.2434194094944, + -819.3651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1161.8414956208478, + -817.8651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1164.4395718322012, + -816.3651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1167.0376480435546, + -814.8651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1169.635724254908, + -813.3651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1172.2338004662613, + -811.8651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1174.8318766776147, + -810.3651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1177.429952888968, + -808.8651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1180.0280291003214, + -807.3651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1182.6261053116748, + -805.8651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1185.2241815230282, + -804.3651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1187.8222577343815, + -802.8651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1190.420333945735, + -801.3651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1193.0184101570883, + -799.8651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1195.6164863684417, + -798.3651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1198.214562579795, + -796.8651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1200.8126387911484, + -795.3651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1203.4107150025018, + -793.8651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1206.0087912138551, + -792.3651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1208.6068674252085, + -790.8651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1211.204943636562, + -789.3651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1213.8030198479153, + -787.8651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1216.4010960592686, + -786.3651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1218.999172270622, + -784.8651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1221.5972484819754, + -783.3651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1224.1953246933288, + -781.8651740122901, + 49.351679920042486 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1224.1953246933288, + -781.8651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1227.1953246933288, + -781.8651740122901, + 49.351679920042486 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1230.1953246933288, + -781.8651740122901, + 49.351679920042486 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1256.0, + -768.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-5-30_1401943880/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-5-30_1401943880/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6fe2159f374e3adb2fc00c9296d177f44d729996 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-5-30_1401943880/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1592.1657151147278, + 648.2628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1589.5676389033745, + 646.7628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1586.969562692021, + 645.2628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1584.3714864806677, + 643.7628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1581.7734102693144, + 642.2628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1579.175334057961, + 640.7628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1576.5772578466076, + 639.2628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1573.9791816352542, + 637.7628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1571.3811054239009, + 636.2628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1568.7830292125475, + 634.7628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1566.1849530011941, + 633.2628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1563.5868767898407, + 631.7628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1560.9888005784874, + 630.2628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1558.390724367134, + 628.7628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1555.7926481557806, + 627.2628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1553.1945719444273, + 625.7628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1550.5964957330739, + 624.2628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1547.9984195217205, + 622.7628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1545.4003433103671, + 621.2628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1542.8022670990138, + 619.7628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1540.2041908876604, + 618.2628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1537.606114676307, + 616.7628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1535.0080384649536, + 615.2628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1532.4099622536003, + 613.7628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1529.811886042247, + 612.2628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1527.2138098308935, + 610.7628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1524.6157336195402, + 609.2628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1522.0176574081868, + 607.7628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1519.4195811968334, + 606.2628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1516.82150498548, + 604.7628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1514.2234287741267, + 603.2628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1511.6253525627733, + 601.7628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1509.02727635142, + 600.2628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1506.4292001400665, + 598.7628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1503.8311239287132, + 597.2628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1501.2330477173598, + 595.7628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1498.6349715060064, + 594.2628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1496.036895294653, + 592.7628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1493.4388190832997, + 591.2628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1490.8407428719463, + 589.7628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1488.242666660593, + 588.2628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1485.6445904492396, + 586.7628201138289, + 55.368568549080656 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1485.6445904492396, + 586.7628201138289, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1484.1445904492396, + 584.1647439024755, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1482.6445904492396, + 581.5666676911221, + 55.368568549080656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1481.1445904492396, + 578.9685914797687, + 55.368568549080656 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1448.0, + 556.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-59-10_787660056/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-59-10_787660056/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..26559fd229f0a49181c0ad43f9523bb0f7a839c6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-59-10_787660056/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 570.1015491148995, + 212.9445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 573.1015491148995, + 212.9445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 576.1015491148995, + 212.9445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 579.1015491148995, + 212.9445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 582.1015491148995, + 212.9445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 585.1015491148995, + 212.9445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 588.1015491148995, + 212.9445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 591.1015491148995, + 212.9445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 594.1015491148995, + 212.9445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 597.1015491148995, + 212.9445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 600.1015491148995, + 212.9445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 603.1015491148995, + 212.9445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 606.1015491148995, + 212.9445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 609.1015491148995, + 212.9445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 612.1015491148995, + 212.9445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 615.1015491148995, + 212.9445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 618.1015491148995, + 212.9445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 621.1015491148995, + 212.9445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 624.1015491148995, + 212.9445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 627.1015491148995, + 212.9445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 630.1015491148995, + 212.9445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 633.1015491148995, + 212.9445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 636.1015491148995, + 212.9445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 639.1015491148995, + 212.9445836834158, + 40.2496085800828 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 639.1015491148995, + 212.9445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 641.6996253262528, + 214.4445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 644.2977015376061, + 215.9445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 646.8957777489595, + 217.4445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 649.4938539603129, + 218.9445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 652.0919301716663, + 220.4445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 654.6900063830196, + 221.9445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 657.288082594373, + 223.4445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 659.8861588057264, + 224.9445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 662.4842350170798, + 226.4445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 665.0823112284331, + 227.9445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 667.6803874397865, + 229.4445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 670.2784636511399, + 230.9445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 672.8765398624932, + 232.4445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 675.4746160738466, + 233.9445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 678.0726922852, + 235.4445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 680.6707684965534, + 236.9445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 683.2688447079067, + 238.4445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 685.8669209192601, + 239.9445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 688.4649971306135, + 241.4445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 691.0630733419669, + 242.9445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 693.6611495533202, + 244.4445836834158, + 40.2496085800828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 696.2592257646736, + 245.9445836834158, + 40.2496085800828 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 728.0, + 252.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-21-49_47830643/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-21-49_47830643/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..951d5ad437e357ca0c679f336441a9ba422ea88f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-21-49_47830643/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1225.0916462685288, + -1403.9733222830828, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1223.5916462685288, + -1406.5713984944362, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1222.0916462685288, + -1409.1694747057895, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1220.5916462685288, + -1411.767550917143, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1219.0916462685288, + -1414.3656271284963, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1217.5916462685288, + -1416.9637033398496, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1216.0916462685288, + -1419.561779551203, + 44.946783165134136 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1216.0916462685288, + -1419.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1216.0916462685288, + -1422.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1216.0916462685288, + -1425.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1216.0916462685288, + -1428.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1216.0916462685288, + -1431.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1216.0916462685288, + -1434.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1216.0916462685288, + -1437.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1216.0916462685288, + -1440.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1216.0916462685288, + -1443.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1216.0916462685288, + -1446.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1216.0916462685288, + -1449.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1216.0916462685288, + -1452.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1216.0916462685288, + -1455.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1216.0916462685288, + -1458.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1216.0916462685288, + -1461.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1216.0916462685288, + -1464.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1216.0916462685288, + -1467.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1216.0916462685288, + -1470.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1216.0916462685288, + -1473.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1216.0916462685288, + -1476.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1216.0916462685288, + -1479.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1216.0916462685288, + -1482.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1216.0916462685288, + -1485.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1216.0916462685288, + -1488.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1216.0916462685288, + -1491.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1216.0916462685288, + -1494.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1216.0916462685288, + -1497.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1216.0916462685288, + -1500.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1216.0916462685288, + -1503.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1216.0916462685288, + -1506.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1216.0916462685288, + -1509.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1216.0916462685288, + -1512.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1216.0916462685288, + -1515.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1216.0916462685288, + -1518.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1216.0916462685288, + -1521.561779551203, + 44.946783165134136 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1216.0916462685288, + -1521.561779551203, + 44.946783165134136 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1216.0916462685288, + -1521.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1213.4935700571755, + -1523.061779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1210.895493845822, + -1524.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1208.2974176344687, + -1526.061779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1205.6993414231154, + -1527.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1203.101265211762, + -1529.061779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1200.5031890004086, + -1530.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1197.9051127890552, + -1532.061779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1195.3070365777019, + -1533.561779551203, + 44.946783165134136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1192.7089603663485, + -1535.061779551203, + 44.946783165134136 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1180.0, + -1572.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-30-26_545343058/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-30-26_545343058/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2d0208902dabd0389f2969435ed4788d32982b37 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-30-26_545343058/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 300.3937158982475, + -816.3762010120241, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 301.8937158982475, + -818.9742772233774, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 303.3937158982475, + -821.5723534347308, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 304.8937158982475, + -824.1704296460841, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 306.3937158982475, + -826.7685058574375, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 307.8937158982475, + -829.3665820687909, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 309.3937158982475, + -831.9646582801442, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 310.8937158982475, + -834.5627344914976, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 312.3937158982475, + -837.160810702851, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 313.8937158982475, + -839.7588869142044, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 315.3937158982475, + -842.3569631255577, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 316.8937158982475, + -844.9550393369111, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 318.3937158982475, + -847.5531155482645, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 319.8937158982475, + -850.1511917596179, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 321.3937158982475, + -852.7492679709712, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 322.8937158982475, + -855.3473441823246, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 324.3937158982475, + -857.945420393678, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 325.8937158982475, + -860.5434966050314, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 327.3937158982475, + -863.1415728163847, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 328.8937158982475, + -865.7396490277381, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 330.3937158982475, + -868.3377252390915, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 331.8937158982475, + -870.9358014504448, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 333.3937158982475, + -873.5338776617982, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 334.8937158982475, + -876.1319538731516, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 336.3937158982475, + -878.730030084505, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 337.8937158982475, + -881.3281062958583, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 339.3937158982475, + -883.9261825072117, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 340.8937158982475, + -886.5242587185651, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 342.3937158982475, + -889.1223349299185, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 343.8937158982475, + -891.7204111412718, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 345.3937158982475, + -894.3184873526252, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 346.8937158982475, + -896.9165635639786, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 348.3937158982475, + -899.514639775332, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 349.8937158982475, + -902.1127159866853, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 351.3937158982475, + -904.7107921980387, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 352.8937158982475, + -907.3088684093921, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 354.3937158982475, + -909.9069446207454, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 355.8937158982475, + -912.5050208320988, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 357.3937158982475, + -915.1030970434522, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 358.8937158982475, + -917.7011732548056, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 360.3937158982475, + -920.2992494661589, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 361.8937158982475, + -922.8973256775123, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 363.3937158982475, + -925.4954018888657, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 364.8937158982475, + -928.093478100219, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 366.3937158982475, + -930.6915543115724, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 367.8937158982475, + -933.2896305229258, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 369.3937158982475, + -935.8877067342792, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 370.8937158982475, + -938.4857829456325, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 372.3937158982475, + -941.0838591569859, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 373.8937158982475, + -943.6819353683393, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 375.3937158982475, + -946.2800115796927, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 376.8937158982475, + -948.878087791046, + 66.36163161802386 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 376.8937158982475, + -948.878087791046, + 66.36163161802386 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 379.4917921096008, + -950.378087791046, + 66.36163161802386 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983084 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 392.0, + -968.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-33-44_1051527998/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-33-44_1051527998/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a0a632314d1668102054465aea83539ebf2d73ee --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-33-44_1051527998/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1409.2661273383608, + -586.0339697511617, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1407.7661273383608, + -583.4358935398084, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1406.2661273383608, + -580.837817328455, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1404.7661273383608, + -578.2397411171016, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1403.2661273383608, + -575.6416649057483, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1401.7661273383608, + -573.0435886943949, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1400.2661273383608, + -570.4455124830415, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1398.7661273383608, + -567.8474362716881, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1397.2661273383608, + -565.2493600603348, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1395.7661273383608, + -562.6512838489814, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1394.2661273383608, + -560.053207637628, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1392.7661273383608, + -557.4551314262746, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1391.2661273383608, + -554.8570552149213, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1389.7661273383608, + -552.2589790035679, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1388.2661273383608, + -549.6609027922145, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1386.7661273383608, + -547.0628265808612, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1385.2661273383608, + -544.4647503695078, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1383.7661273383608, + -541.8666741581544, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1382.2661273383608, + -539.268597946801, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1380.7661273383608, + -536.6705217354477, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1379.2661273383608, + -534.0724455240943, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1377.7661273383608, + -531.4743693127409, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1376.2661273383608, + -528.8762931013875, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1374.7661273383608, + -526.2782168900342, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1373.2661273383608, + -523.6801406786808, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1371.7661273383608, + -521.0820644673274, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1370.2661273383608, + -518.483988255974, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1368.7661273383608, + -515.8859120446207, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1367.2661273383608, + -513.2878358332673, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1365.7661273383608, + -510.689759621914, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1364.2661273383608, + -508.0916834105607, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1362.7661273383608, + -505.49360719920736, + 63.89503075334723 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1362.7661273383608, + -505.49360719920736, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1362.7661273383608, + -502.49360719920736, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1362.7661273383608, + -499.49360719920736, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1362.7661273383608, + -496.49360719920736, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1362.7661273383608, + -493.49360719920736, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1362.7661273383608, + -490.49360719920736, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1362.7661273383608, + -487.49360719920736, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1362.7661273383608, + -484.49360719920736, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1362.7661273383608, + -481.49360719920736, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1362.7661273383608, + -478.49360719920736, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1362.7661273383608, + -475.49360719920736, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1362.7661273383608, + -472.49360719920736, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1362.7661273383608, + -469.49360719920736, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1362.7661273383608, + -466.49360719920736, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1362.7661273383608, + -463.49360719920736, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1362.7661273383608, + -460.49360719920736, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1362.7661273383608, + -457.49360719920736, + 63.89503075334723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1362.7661273383608, + -454.49360719920736, + 63.89503075334723 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1352.0, + -420.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-36-17_943116035/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-36-17_943116035/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9eeef10c590174073ff2fe4087c25ce33b07d620 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-36-17_943116035/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1455.8350489447068, + 1735.4723164497407, + 41.8829836221722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1457.3350489447068, + 1738.070392661094, + 41.8829836221722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1458.8350489447068, + 1740.6684688724474, + 41.8829836221722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1460.3350489447068, + 1743.2665450838008, + 41.8829836221722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1461.8350489447068, + 1745.8646212951542, + 41.8829836221722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1463.3350489447068, + 1748.4626975065075, + 41.8829836221722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1464.8350489447068, + 1751.060773717861, + 41.8829836221722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1466.3350489447068, + 1753.6588499292143, + 41.8829836221722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1467.8350489447068, + 1756.2569261405677, + 41.8829836221722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1469.3350489447068, + 1758.855002351921, + 41.8829836221722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1470.8350489447068, + 1761.4530785632744, + 41.8829836221722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1472.3350489447068, + 1764.0511547746278, + 41.8829836221722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1473.8350489447068, + 1766.6492309859811, + 41.8829836221722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1475.3350489447068, + 1769.2473071973345, + 41.8829836221722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1476.8350489447068, + 1771.845383408688, + 41.8829836221722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1478.3350489447068, + 1774.4434596200413, + 41.8829836221722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1479.8350489447068, + 1777.0415358313946, + 41.8829836221722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1481.3350489447068, + 1779.639612042748, + 41.8829836221722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1482.8350489447068, + 1782.2376882541014, + 41.8829836221722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1484.3350489447068, + 1784.8357644654548, + 41.8829836221722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1485.8350489447068, + 1787.4338406768081, + 41.8829836221722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1487.3350489447068, + 1790.0319168881615, + 41.8829836221722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1488.8350489447068, + 1792.6299930995149, + 41.8829836221722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1490.3350489447068, + 1795.2280693108682, + 41.8829836221722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1491.8350489447068, + 1797.8261455222216, + 41.8829836221722 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1536.0, + 1884.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_8-33-33_1036001642/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_8-33-33_1036001642/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..672e731f12f7a7ce25a9123685dcf8e08f386423 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_8-33-33_1036001642/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1418.6692362107483, + -46.974932603774135, + 52.68865813396566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1418.6692362107483, + -43.974932603774135, + 52.68865813396566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1418.6692362107483, + -40.974932603774135, + 52.68865813396566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1418.6692362107483, + -37.974932603774135, + 52.68865813396566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1418.6692362107483, + -34.974932603774135, + 52.68865813396566 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1418.6692362107483, + -34.974932603774135, + 52.68865813396566 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1420.1692362107483, + -32.37685639242082, + 52.68865813396566 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1421.6692362107483, + -29.778780181067503, + 52.68865813396566 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1460.0, + 108.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_8-51-23_1117726230/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_8-51-23_1117726230/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7bf49dcf31f8251d9507ad1bf9f3222dd9301bfa --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_8-51-23_1117726230/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -938.8512857311812, + -615.5027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -941.4493619425346, + -617.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -944.0474381538879, + -618.5027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -946.6455143652413, + -620.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -949.2435905765947, + -621.5027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -951.841666787948, + -623.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -954.4397429993014, + -624.5027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -957.0378192106548, + -626.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -959.6358954220082, + -627.5027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -962.2339716333615, + -629.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -964.8320478447149, + -630.5027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -967.4301240560683, + -632.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -970.0282002674217, + -633.5027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -972.626276478775, + -635.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -975.2243526901284, + -636.5027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -977.8224289014818, + -638.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -980.4205051128351, + -639.5027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -983.0185813241885, + -641.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -985.6166575355419, + -642.5027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -988.2147337468953, + -644.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -990.8128099582486, + -645.5027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -993.410886169602, + -647.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -996.0089623809554, + -648.5027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -998.6070385923088, + -650.0027907824468, + 55.919821446099924 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -998.6070385923088, + -650.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1001.6070385923088, + -650.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1004.6070385923088, + -650.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1007.6070385923088, + -650.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1010.6070385923088, + -650.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1013.6070385923088, + -650.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1016.6070385923088, + -650.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1019.6070385923088, + -650.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1022.6070385923088, + -650.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1025.6070385923088, + -650.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1028.6070385923088, + -650.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1031.6070385923088, + -650.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1034.6070385923088, + -650.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1037.6070385923088, + -650.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1040.6070385923088, + -650.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1043.6070385923088, + -650.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1046.6070385923088, + -650.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1049.6070385923088, + -650.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1052.6070385923088, + -650.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1055.6070385923088, + -650.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1058.6070385923088, + -650.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1061.6070385923088, + -650.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1064.6070385923088, + -650.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1067.6070385923088, + -650.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1070.6070385923088, + -650.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1073.6070385923088, + -650.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1076.6070385923088, + -650.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1079.6070385923088, + -650.0027907824468, + 55.919821446099924 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1082.6070385923088, + -650.0027907824468, + 55.919821446099924 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1104.0, + -656.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_8-53-24_819599372/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_8-53-24_819599372/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..da61b1cdc6936a8ae29d19db58994da6394fde2b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_8-53-24_819599372/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1362.6114330808052, + -233.75267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1359.6114330808052, + -233.75267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1356.6114330808052, + -233.75267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1353.6114330808052, + -233.75267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1350.6114330808052, + -233.75267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1347.6114330808052, + -233.75267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1344.6114330808052, + -233.75267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1341.6114330808052, + -233.75267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1338.6114330808052, + -233.75267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1335.6114330808052, + -233.75267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1332.6114330808052, + -233.75267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1329.6114330808052, + -233.75267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1326.6114330808052, + -233.75267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1323.6114330808052, + -233.75267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1320.6114330808052, + -233.75267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1317.6114330808052, + -233.75267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1314.6114330808052, + -233.75267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1311.6114330808052, + -233.75267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1308.6114330808052, + -233.75267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1305.6114330808052, + -233.75267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1302.6114330808052, + -233.75267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1299.6114330808052, + -233.75267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1296.6114330808052, + -233.75267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1293.6114330808052, + -233.75267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1290.6114330808052, + -233.75267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1287.6114330808052, + -233.75267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1284.6114330808052, + -233.75267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1281.6114330808052, + -233.75267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1278.6114330808052, + -233.75267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1275.6114330808052, + -233.75267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1272.6114330808052, + -233.75267168749792, + 55.79962770199685 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1272.6114330808052, + -233.75267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1270.0133568694519, + -235.25267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1267.4152806580985, + -236.75267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1264.817204446745, + -238.25267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1262.2191282353917, + -239.75267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1259.6210520240384, + -241.25267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1257.022975812685, + -242.75267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1254.4248996013316, + -244.25267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1251.8268233899782, + -245.75267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1249.2287471786249, + -247.25267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1246.6306709672715, + -248.75267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1244.0325947559181, + -250.25267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1241.4345185445648, + -251.75267168749792, + 55.79962770199685 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1238.8364423332114, + -253.25267168749792, + 55.79962770199685 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1204.0, + -256.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_8-58-0_878786386/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_8-58-0_878786386/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..52692b45541b880688ef9970574558c794a0967d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_8-58-0_878786386/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1705.9284459159783, + -676.7136896825479, + 43.69946768468576 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1708.9284459159783, + -676.7136896825479, + 43.69946768468576 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1711.9284459159783, + -676.7136896825479, + 43.69946768468576 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1714.9284459159783, + -676.7136896825479, + 43.69946768468576 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1717.9284459159783, + -676.7136896825479, + 43.69946768468576 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1720.9284459159783, + -676.7136896825479, + 43.69946768468576 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1723.9284459159783, + -676.7136896825479, + 43.69946768468576 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1726.9284459159783, + -676.7136896825479, + 43.69946768468576 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1729.9284459159783, + -676.7136896825479, + 43.69946768468576 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1732.9284459159783, + -676.7136896825479, + 43.69946768468576 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1735.9284459159783, + -676.7136896825479, + 43.69946768468576 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1735.9284459159783, + -676.7136896825479, + 43.69946768468576 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1738.5265221273316, + -675.2136896825479, + 43.69946768468576 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1741.124598338685, + -673.7136896825479, + 43.69946768468576 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1743.7226745500384, + -672.2136896825479, + 43.69946768468576 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1746.3207507613918, + -670.7136896825479, + 43.69946768468576 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1748.9188269727451, + -669.2136896825479, + 43.69946768468576 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1751.5169031840985, + -667.7136896825479, + 43.69946768468576 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1754.1149793954519, + -666.2136896825479, + 43.69946768468576 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1756.7130556068053, + -664.7136896825479, + 43.69946768468576 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1759.3111318181586, + -663.2136896825479, + 43.69946768468576 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1761.909208029512, + -661.7136896825479, + 43.69946768468576 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1764.5072842408654, + -660.2136896825479, + 43.69946768468576 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1764.5072842408654, + -660.2136896825479, + 43.69946768468576 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1767.5072842408654, + -660.2136896825479, + 43.69946768468576 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1770.5072842408654, + -660.2136896825479, + 43.69946768468576 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1773.5072842408654, + -660.2136896825479, + 43.69946768468576 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1776.5072842408654, + -660.2136896825479, + 43.69946768468576 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1779.5072842408654, + -660.2136896825479, + 43.69946768468576 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1782.5072842408654, + -660.2136896825479, + 43.69946768468576 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1785.5072842408654, + -660.2136896825479, + 43.69946768468576 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1788.5072842408654, + -660.2136896825479, + 43.69946768468576 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1791.5072842408654, + -660.2136896825479, + 43.69946768468576 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1794.5072842408654, + -660.2136896825479, + 43.69946768468576 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1797.5072842408654, + -660.2136896825479, + 43.69946768468576 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1800.5072842408654, + -660.2136896825479, + 43.69946768468576 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1872.0, + -648.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_9-24-49_203030386/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_9-24-49_203030386/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ca5e3f5498dfab8ab64b3ed2b17ecd28489ab938 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_9-24-49_203030386/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 739.6952287014045, + 917.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 737.0971524900513, + 916.2468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 734.4990762786979, + 914.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 731.9010000673445, + 913.2468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 729.3029238559911, + 911.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 726.7048476446378, + 910.2468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 724.1067714332844, + 908.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 721.508695221931, + 907.2468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 718.9106190105776, + 905.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 716.3125427992243, + 904.2468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 713.7144665878709, + 902.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 711.1163903765175, + 901.2468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 708.5183141651642, + 899.7468422378048, + 50.47662563091158 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 708.5183141651642, + 899.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 705.5183141651642, + 899.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 702.5183141651642, + 899.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 699.5183141651642, + 899.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 696.5183141651642, + 899.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 693.5183141651642, + 899.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 690.5183141651642, + 899.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 687.5183141651642, + 899.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 684.5183141651642, + 899.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 681.5183141651642, + 899.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 678.5183141651642, + 899.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 675.5183141651642, + 899.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 672.5183141651642, + 899.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 669.5183141651642, + 899.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 666.5183141651642, + 899.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 663.5183141651642, + 899.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 660.5183141651642, + 899.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 657.5183141651642, + 899.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 654.5183141651642, + 899.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 651.5183141651642, + 899.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 648.5183141651642, + 899.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 645.5183141651642, + 899.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 642.5183141651642, + 899.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 639.5183141651642, + 899.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 636.5183141651642, + 899.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 633.5183141651642, + 899.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 630.5183141651642, + 899.7468422378048, + 50.47662563091158 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 630.5183141651642, + 899.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 627.9202379538108, + 901.2468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 625.3221617424574, + 902.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 622.724085531104, + 904.2468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 620.1260093197507, + 905.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 617.5279331083973, + 907.2468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 614.9298568970439, + 908.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 612.3317806856905, + 910.2468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 609.7337044743372, + 911.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 607.1356282629838, + 913.2468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 604.5375520516304, + 914.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 601.939475840277, + 916.2468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 599.3413996289237, + 917.7468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 596.7433234175703, + 919.2468422378048, + 50.47662563091158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 594.1452472062169, + 920.7468422378048, + 50.47662563091158 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 560.0, + 920.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_9-32-54_1018014057/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_9-32-54_1018014057/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ebde78dac6ee577f227d074622292c4836aca772 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_9-32-54_1018014057/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1620.4876552949754, + 949.2071823844589, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1623.0857315063288, + 950.7071823844589, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1625.6838077176822, + 952.2071823844589, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1628.2818839290355, + 953.7071823844589, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1630.879960140389, + 955.2071823844589, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1633.4780363517423, + 956.7071823844589, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1636.0761125630956, + 958.2071823844589, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1638.674188774449, + 959.7071823844589, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1641.2722649858024, + 961.2071823844589, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1643.8703411971558, + 962.7071823844589, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1646.4684174085091, + 964.2071823844589, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1649.0664936198625, + 965.7071823844589, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1651.6645698312159, + 967.2071823844589, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1654.2626460425693, + 968.7071823844589, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1656.8607222539226, + 970.2071823844589, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1659.458798465276, + 971.7071823844589, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1662.0568746766294, + 973.2071823844589, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1664.6549508879827, + 974.7071823844589, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1667.2530270993361, + 976.2071823844589, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1669.8511033106895, + 977.7071823844589, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1672.4491795220429, + 979.2071823844589, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1675.0472557333962, + 980.7071823844589, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1677.6453319447496, + 982.2071823844589, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1680.243408156103, + 983.7071823844589, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1682.8414843674564, + 985.2071823844589, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1685.4395605788097, + 986.7071823844589, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1688.037636790163, + 988.2071823844589, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1690.6357130015165, + 989.7071823844589, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1693.2337892128699, + 991.2071823844589, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1695.8318654242232, + 992.7071823844589, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1698.4299416355766, + 994.2071823844589, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1701.02801784693, + 995.7071823844589, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1703.6260940582833, + 997.2071823844589, + 69.46547029742077 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1703.6260940582833, + 997.2071823844589, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1705.1260940582833, + 999.8052585958121, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1706.6260940582833, + 1002.4033348071655, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1708.1260940582833, + 1005.0014110185189, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1709.6260940582833, + 1007.5994872298722, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1711.1260940582833, + 1010.1975634412256, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1712.6260940582833, + 1012.795639652579, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1714.1260940582833, + 1015.3937158639324, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1715.6260940582833, + 1017.9917920752857, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1717.1260940582833, + 1020.5898682866391, + 69.46547029742077 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1717.1260940582833, + 1020.5898682866391, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1719.7241702696367, + 1022.0898682866391, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1722.32224648099, + 1023.5898682866391, + 69.46547029742077 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1724.9203226923435, + 1025.089868286639, + 69.46547029742077 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1752.0, + 1044.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-15-12_586586766/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-15-12_586586766/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0e5a23c2a1615a251b61e6f9524706e464bd381b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-15-12_586586766/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 629.7769255106074, + 431.58270366139055, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 627.1788492992541, + 433.08270366139055, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 624.5807730879008, + 434.58270366139055, + 42.969898372599054 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 624.5807730879008, + 434.58270366139055, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 621.5807730879008, + 434.58270366139055, + 42.969898372599054 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 621.5807730879008, + 434.58270366139055, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 618.9826968765474, + 433.08270366139055, + 42.969898372599054 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 618.9826968765474, + 433.08270366139055, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 615.9826968765474, + 433.08270366139055, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 612.9826968765474, + 433.08270366139055, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 609.9826968765474, + 433.08270366139055, + 42.969898372599054 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 609.9826968765474, + 433.08270366139055, + 42.969898372599054 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 609.9826968765474, + 433.08270366139055, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 608.4826968765474, + 435.68077987274387, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 606.9826968765474, + 438.2788560840972, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 605.4826968765474, + 440.8769322954505, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 603.9826968765474, + 443.4750085068038, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 602.4826968765474, + 446.07308471815713, + 42.969898372599054 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 602.4826968765474, + 446.07308471815713, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 599.884620665194, + 447.57308471815713, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 597.2865444538406, + 449.07308471815713, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 594.6884682424873, + 450.57308471815713, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 592.0903920311339, + 452.07308471815713, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 589.4923158197805, + 453.57308471815713, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 586.8942396084271, + 455.07308471815713, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 584.2961633970738, + 456.57308471815713, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 581.6980871857204, + 458.07308471815713, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 579.100010974367, + 459.57308471815713, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 576.5019347630137, + 461.07308471815713, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 573.9038585516603, + 462.57308471815713, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 571.3057823403069, + 464.07308471815713, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 568.7077061289535, + 465.57308471815713, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 566.1096299176002, + 467.07308471815713, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 563.5115537062468, + 468.57308471815713, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 560.9134774948934, + 470.07308471815713, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 558.31540128354, + 471.57308471815713, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 555.7173250721867, + 473.07308471815713, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 553.1192488608333, + 474.57308471815713, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 550.5211726494799, + 476.07308471815713, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 547.9230964381265, + 477.57308471815713, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 545.3250202267732, + 479.07308471815713, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 542.7269440154198, + 480.57308471815713, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 540.1288678040664, + 482.07308471815713, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 537.5307915927131, + 483.57308471815713, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 534.9327153813597, + 485.07308471815713, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 532.3346391700063, + 486.57308471815713, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 529.7365629586529, + 488.07308471815713, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 527.1384867472996, + 489.57308471815713, + 42.969898372599054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 524.5404105359462, + 491.07308471815713, + 42.969898372599054 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 500.0, + 508.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-21-17_406605987/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-21-17_406605987/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4c2aa3c5737e20d17567fffb4dd83e6519c15467 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-21-17_406605987/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -864.9116574217375, + 1655.292718753389, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -867.5097336330907, + 1653.792718753389, + 65.10646902058785 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -867.5097336330907, + 1653.792718753389, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931864 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -869.0097336330907, + 1651.1946425420356, + 65.10646902058785 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -869.0097336330907, + 1651.1946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -871.6078098444441, + 1649.6946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -874.2058860557975, + 1648.1946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -876.8039622671508, + 1646.6946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -879.4020384785042, + 1645.1946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -882.0001146898576, + 1643.6946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -884.598190901211, + 1642.1946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -887.1962671125643, + 1640.6946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -889.7943433239177, + 1639.1946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -892.3924195352711, + 1637.6946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -894.9904957466244, + 1636.1946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -897.5885719579778, + 1634.6946425420356, + 65.10646902058785 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -897.5885719579778, + 1634.6946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -900.5885719579778, + 1634.6946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -903.5885719579778, + 1634.6946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -906.5885719579778, + 1634.6946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -909.5885719579778, + 1634.6946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -912.5885719579778, + 1634.6946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -915.5885719579778, + 1634.6946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -918.5885719579778, + 1634.6946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -921.5885719579778, + 1634.6946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -924.5885719579778, + 1634.6946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -927.5885719579778, + 1634.6946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -930.5885719579778, + 1634.6946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -933.5885719579778, + 1634.6946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -936.5885719579778, + 1634.6946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -939.5885719579778, + 1634.6946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -942.5885719579778, + 1634.6946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -945.5885719579778, + 1634.6946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -948.5885719579778, + 1634.6946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -951.5885719579778, + 1634.6946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -954.5885719579778, + 1634.6946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -957.5885719579778, + 1634.6946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -960.5885719579778, + 1634.6946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -963.5885719579778, + 1634.6946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -966.5885719579778, + 1634.6946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -969.5885719579778, + 1634.6946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -972.5885719579778, + 1634.6946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -975.5885719579778, + 1634.6946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -978.5885719579778, + 1634.6946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -981.5885719579778, + 1634.6946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -984.5885719579778, + 1634.6946425420356, + 65.10646902058785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -987.5885719579778, + 1634.6946425420356, + 65.10646902058785 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1016.0, + 1632.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-59-41_18186358/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-59-41_18186358/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cbb2a12a72d3c7c067d280450f9904cebe63d95f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-59-41_18186358/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 676.9920564761053, + 460.3300677387745, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 679.9920564761053, + 460.3300677387745, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 682.9920564761053, + 460.3300677387745, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 685.9920564761053, + 460.3300677387745, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 688.9920564761053, + 460.3300677387745, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 691.9920564761053, + 460.3300677387745, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 694.9920564761053, + 460.3300677387745, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 697.9920564761053, + 460.3300677387745, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 700.9920564761053, + 460.3300677387745, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 703.9920564761053, + 460.3300677387745, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 706.9920564761053, + 460.3300677387745, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 709.9920564761053, + 460.3300677387745, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 712.9920564761053, + 460.3300677387745, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 715.9920564761053, + 460.3300677387745, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 718.9920564761053, + 460.3300677387745, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 721.9920564761053, + 460.3300677387745, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 724.9920564761053, + 460.3300677387745, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 727.9920564761053, + 460.3300677387745, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 730.9920564761053, + 460.3300677387745, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 733.9920564761053, + 460.3300677387745, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 736.9920564761053, + 460.3300677387745, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 739.9920564761053, + 460.3300677387745, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 742.9920564761053, + 460.3300677387745, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 745.9920564761053, + 460.3300677387745, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 748.9920564761053, + 460.3300677387745, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 751.9920564761053, + 460.3300677387745, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 754.9920564761053, + 460.3300677387745, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 757.9920564761053, + 460.3300677387745, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 760.9920564761053, + 460.3300677387745, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 763.9920564761053, + 460.3300677387745, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 766.9920564761053, + 460.3300677387745, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 769.9920564761053, + 460.3300677387745, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 772.9920564761053, + 460.3300677387745, + 49.92731172463645 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 772.9920564761053, + 460.3300677387745, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 775.5901326874587, + 458.8300677387745, + 49.92731172463645 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 775.5901326874587, + 458.8300677387745, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 777.0901326874587, + 456.2319915274212, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 778.5901326874587, + 453.6339153160679, + 49.92731172463645 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 778.5901326874587, + 453.6339153160679, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 781.188208898812, + 452.1339153160679, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 783.7862851101654, + 450.6339153160679, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 786.3843613215188, + 449.1339153160679, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 788.9824375328722, + 447.6339153160679, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 791.5805137442255, + 446.1339153160679, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 794.1785899555789, + 444.6339153160679, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 796.7766661669323, + 443.1339153160679, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 799.3747423782856, + 441.6339153160679, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 801.972818589639, + 440.1339153160679, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 804.5708948009924, + 438.6339153160679, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 807.1689710123458, + 437.1339153160679, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 809.7670472236991, + 435.6339153160679, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 812.3651234350525, + 434.1339153160679, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 814.9631996464059, + 432.6339153160679, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 817.5612758577593, + 431.1339153160679, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 820.1593520691126, + 429.6339153160679, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 822.757428280466, + 428.1339153160679, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 825.3555044918194, + 426.6339153160679, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 827.9535807031727, + 425.1339153160679, + 49.92731172463645 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 830.5516569145261, + 423.6339153160679, + 49.92731172463645 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 848.0, + 420.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_1-0-48_1719005510/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_1-0-48_1719005510/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eb6d1a17ef0a0bb22131c26681f133162dcfa38e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_1-0-48_1719005510/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1337.6458179453962, + -11.132195715522954, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1340.6458179453962, + -11.132195715522954, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1343.6458179453962, + -11.132195715522954, + 61.084161167560616 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1343.6458179453962, + -11.132195715522954, + 61.084161167560616 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1343.6458179453962, + -11.132195715522954, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1345.1458179453962, + -8.534119504169638, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1346.6458179453962, + -5.936043292816322, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1348.1458179453962, + -3.337967081463006, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1349.6458179453962, + -0.73989087010969, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1351.1458179453962, + 1.858185341243626, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1352.6458179453962, + 4.456261552596942, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1354.1458179453962, + 7.054337763950258, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1355.6458179453962, + 9.652413975303574, + 61.084161167560616 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1355.6458179453962, + 9.652413975303574, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1355.6458179453962, + 12.652413975303574, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1355.6458179453962, + 15.652413975303574, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1355.6458179453962, + 18.652413975303574, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1355.6458179453962, + 21.652413975303574, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1355.6458179453962, + 24.652413975303574, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1355.6458179453962, + 27.652413975303574, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1355.6458179453962, + 30.652413975303574, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1355.6458179453962, + 33.652413975303574, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1355.6458179453962, + 36.652413975303574, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1355.6458179453962, + 39.652413975303574, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1355.6458179453962, + 42.652413975303574, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1355.6458179453962, + 45.652413975303574, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1355.6458179453962, + 48.652413975303574, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1355.6458179453962, + 51.652413975303574, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1355.6458179453962, + 54.652413975303574, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1355.6458179453962, + 57.652413975303574, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1355.6458179453962, + 60.652413975303574, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1355.6458179453962, + 63.652413975303574, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1355.6458179453962, + 66.65241397530357, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1355.6458179453962, + 69.65241397530357, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1355.6458179453962, + 72.65241397530357, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1355.6458179453962, + 75.65241397530357, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1355.6458179453962, + 78.65241397530357, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1355.6458179453962, + 81.65241397530357, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1355.6458179453962, + 84.65241397530357, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1355.6458179453962, + 87.65241397530357, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1355.6458179453962, + 90.65241397530357, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1355.6458179453962, + 93.65241397530357, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1355.6458179453962, + 96.65241397530357, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1355.6458179453962, + 99.65241397530357, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1355.6458179453962, + 102.65241397530357, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1355.6458179453962, + 105.65241397530357, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1355.6458179453962, + 108.65241397530357, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1355.6458179453962, + 111.65241397530357, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1355.6458179453962, + 114.65241397530357, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1355.6458179453962, + 117.65241397530357, + 61.084161167560616 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1355.6458179453962, + 120.65241397530357, + 61.084161167560616 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1360.0, + 148.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_1-14-45_709691201/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_1-14-45_709691201/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cd160d4f7b299aeecc659b46c2e118678870a18f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_1-14-45_709691201/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1260.3112755404456, + 302.7662699317341, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1258.8112755404456, + 305.3643461430874, + 48.268098579014456 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1258.8112755404456, + 305.3643461430874, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1256.2131993290923, + 306.8643461430874, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1253.615123117739, + 308.3643461430874, + 48.268098579014456 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1253.615123117739, + 308.3643461430874, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1252.115123117739, + 310.9624223544407, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1250.615123117739, + 313.56049856579403, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1249.115123117739, + 316.15857477714735, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1247.615123117739, + 318.75665098850067, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1246.115123117739, + 321.354727199854, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1244.615123117739, + 323.9528034112073, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1243.115123117739, + 326.5508796225606, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1241.615123117739, + 329.14895583391393, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1240.115123117739, + 331.74703204526725, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1238.615123117739, + 334.34510825662056, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1237.115123117739, + 336.9431844679739, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1235.615123117739, + 339.5412606793272, + 48.268098579014456 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1235.615123117739, + 339.5412606793272, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1235.615123117739, + 342.5412606793272, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1235.615123117739, + 345.5412606793272, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1235.615123117739, + 348.5412606793272, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1235.615123117739, + 351.5412606793272, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1235.615123117739, + 354.5412606793272, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1235.615123117739, + 357.5412606793272, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1235.615123117739, + 360.5412606793272, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1235.615123117739, + 363.5412606793272, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1235.615123117739, + 366.5412606793272, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1235.615123117739, + 369.5412606793272, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1235.615123117739, + 372.5412606793272, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1235.615123117739, + 375.5412606793272, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1235.615123117739, + 378.5412606793272, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1235.615123117739, + 381.5412606793272, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1235.615123117739, + 384.5412606793272, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1235.615123117739, + 387.5412606793272, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1235.615123117739, + 390.5412606793272, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1235.615123117739, + 393.5412606793272, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1235.615123117739, + 396.5412606793272, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1235.615123117739, + 399.5412606793272, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1235.615123117739, + 402.5412606793272, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1235.615123117739, + 405.5412606793272, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1235.615123117739, + 408.5412606793272, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1235.615123117739, + 411.5412606793272, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1235.615123117739, + 414.5412606793272, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1235.615123117739, + 417.5412606793272, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1235.615123117739, + 420.5412606793272, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1235.615123117739, + 423.5412606793272, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1235.615123117739, + 426.5412606793272, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1235.615123117739, + 429.5412606793272, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1235.615123117739, + 432.5412606793272, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1235.615123117739, + 435.5412606793272, + 48.268098579014456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1235.615123117739, + 438.5412606793272, + 48.268098579014456 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1228.0, + 472.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_1-15-17_1535321496/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_1-15-17_1535321496/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8822c4da5361c0b509da4a971466167f6307f2ad --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_1-15-17_1535321496/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 440.66010283183743, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 443.66010283183743, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 446.66010283183743, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 449.66010283183743, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 452.66010283183743, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 455.66010283183743, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 458.66010283183743, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 461.66010283183743, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 464.66010283183743, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 467.66010283183743, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 470.66010283183743, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 473.66010283183743, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 476.66010283183743, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 479.66010283183743, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 482.66010283183743, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 485.66010283183743, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 488.66010283183743, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 491.66010283183743, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 494.66010283183743, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 497.66010283183743, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 500.66010283183743, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 503.66010283183743, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 506.66010283183743, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 509.66010283183743, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 512.6601028318374, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 515.6601028318374, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 518.6601028318374, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 521.6601028318374, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 524.6601028318374, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 527.6601028318374, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 530.6601028318374, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 533.6601028318374, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 536.6601028318374, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 539.6601028318374, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 542.6601028318374, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 545.6601028318374, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 548.6601028318374, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 551.6601028318374, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 554.6601028318374, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 554.6601028318374, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 554.6601028318374, + 1797.3399331453306, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 556.1601028318374, + 1794.7418569339773, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 557.6601028318374, + 1792.143780722624, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 559.1601028318374, + 1789.5457045112705, + 66.85488020622131 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 559.1601028318374, + 1789.5457045112705, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 561.7581790431907, + 1788.0457045112705, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 564.3562552545441, + 1786.5457045112705, + 66.85488020622131 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 566.9543314658974, + 1785.0457045112705, + 66.85488020622131 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 592.0, + 1780.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_1-6-2_305385907/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_1-6-2_305385907/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9a223e8d5955b14c43cb5d85ba9d1a6e8fc60a88 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_1-6-2_305385907/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1083.6141316080489, + -965.3677728257857, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1082.1141316080489, + -962.7696966144324, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1080.6141316080489, + -960.171620403079, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1079.1141316080489, + -957.5735441917257, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1077.6141316080489, + -954.9754679803723, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1076.1141316080489, + -952.3773917690189, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1074.6141316080489, + -949.7793155576655, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1073.1141316080489, + -947.1812393463122, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1071.6141316080489, + -944.5831631349588, + 57.04156224148488 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1071.6141316080489, + -944.5831631349588, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1069.0160553966955, + -943.0831631349588, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1066.4179791853421, + -941.5831631349588, + 57.04156224148488 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1066.4179791853421, + -941.5831631349588, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1064.9179791853421, + -938.9850869236054, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1063.4179791853421, + -936.387010712252, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1061.9179791853421, + -933.7889345008987, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1060.4179791853421, + -931.1908582895453, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1058.9179791853421, + -928.5927820781919, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1057.4179791853421, + -925.9947058668386, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1055.9179791853421, + -923.3966296554852, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1054.4179791853421, + -920.7985534441318, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1052.9179791853421, + -918.2004772327784, + 57.04156224148488 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1052.9179791853421, + -918.2004772327784, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1052.9179791853421, + -915.2004772327784, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1052.9179791853421, + -912.2004772327784, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1052.9179791853421, + -909.2004772327784, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1052.9179791853421, + -906.2004772327784, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1052.9179791853421, + -903.2004772327784, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1052.9179791853421, + -900.2004772327784, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1052.9179791853421, + -897.2004772327784, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1052.9179791853421, + -894.2004772327784, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1052.9179791853421, + -891.2004772327784, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1052.9179791853421, + -888.2004772327784, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1052.9179791853421, + -885.2004772327784, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1052.9179791853421, + -882.2004772327784, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1052.9179791853421, + -879.2004772327784, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1052.9179791853421, + -876.2004772327784, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1052.9179791853421, + -873.2004772327784, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1052.9179791853421, + -870.2004772327784, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1052.9179791853421, + -867.2004772327784, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1052.9179791853421, + -864.2004772327784, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1052.9179791853421, + -861.2004772327784, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1052.9179791853421, + -858.2004772327784, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1052.9179791853421, + -855.2004772327784, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1052.9179791853421, + -852.2004772327784, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1052.9179791853421, + -849.2004772327784, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1052.9179791853421, + -846.2004772327784, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1052.9179791853421, + -843.2004772327784, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1052.9179791853421, + -840.2004772327784, + 57.04156224148488 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1052.9179791853421, + -840.2004772327784, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1051.4179791853421, + -837.6024010214251, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1049.9179791853421, + -835.0043248100717, + 57.04156224148488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1048.4179791853421, + -832.4062485987183, + 57.04156224148488 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1036.0, + -792.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_1-8-18_2026774509/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_1-8-18_2026774509/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..af1ff02404f711cb4cc6e49e57e6d0e9c22e2dba --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_1-8-18_2026774509/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -201.8741937225006, + 436.6513116399246, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -200.3741937225006, + 439.2493878512779, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -198.8741937225006, + 441.8474640626312, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -197.3741937225006, + 444.44554027398453, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -195.8741937225006, + 447.04361648533785, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -194.3741937225006, + 449.64169269669117, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -192.8741937225006, + 452.2397689080445, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -191.3741937225006, + 454.8378451193978, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -189.8741937225006, + 457.4359213307511, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -188.3741937225006, + 460.03399754210443, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -186.8741937225006, + 462.63207375345775, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -185.3741937225006, + 465.23014996481106, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -183.8741937225006, + 467.8282261761644, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -182.3741937225006, + 470.4263023875177, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -180.8741937225006, + 473.024378598871, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -179.3741937225006, + 475.6224548102243, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -177.8741937225006, + 478.22053102157764, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -176.3741937225006, + 480.81860723293096, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -174.8741937225006, + 483.4166834442843, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -173.3741937225006, + 486.0147596556376, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -171.8741937225006, + 488.6128358669909, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -170.3741937225006, + 491.2109120783442, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -168.8741937225006, + 493.80898828969754, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -167.3741937225006, + 496.40706450105085, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -165.8741937225006, + 499.00514071240417, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -164.3741937225006, + 501.6032169237575, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -162.8741937225006, + 504.2012931351108, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -161.3741937225006, + 506.7993693464641, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -159.8741937225006, + 509.39744555781743, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -158.3741937225006, + 511.99552176917075, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -156.8741937225006, + 514.593597980524, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -155.3741937225006, + 517.1916741918774, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -153.8741937225006, + 519.7897504032308, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -152.3741937225006, + 522.3878266145841, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -150.8741937225006, + 524.9859028259375, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -149.3741937225006, + 527.5839790372909, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -147.8741937225006, + 530.1820552486442, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -146.3741937225006, + 532.7801314599976, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -144.8741937225006, + 535.378207671351, + 68.86301087006541 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -144.8741937225006, + 535.378207671351, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -142.27611751114728, + 536.878207671351, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -139.67804129979396, + 538.378207671351, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -137.07996508844064, + 539.878207671351, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -134.48188887708733, + 541.378207671351, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -131.883812665734, + 542.878207671351, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -129.2857364543807, + 544.378207671351, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -126.68766024302738, + 545.878207671351, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -124.08958403167406, + 547.378207671351, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -121.49150782032075, + 548.878207671351, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -118.89343160896743, + 550.378207671351, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -116.29535539761412, + 551.878207671351, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -113.6972791862608, + 553.378207671351, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -111.09920297490748, + 554.878207671351, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -108.50112676355417, + 556.378207671351, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -105.90305055220085, + 557.878207671351, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -103.30497434084754, + 559.378207671351, + 68.86301087006541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -100.70689812949422, + 560.878207671351, + 68.86301087006541 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -88.0, + 572.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +}