Datasets:

License:
Ideallll commited on
Commit
46ccb1d
·
verified ·
1 Parent(s): 2ca400b

Add files using upload-large-folder tool

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-12-33_1974806403/pose.jsonl +235 -0
  2. Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-15-35_1543755629/pose.jsonl +248 -0
  3. Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-21-21_1081174232/pose.jsonl +300 -0
  4. Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-21-8_337453826/pose.jsonl +326 -0
  5. Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-29-33_885799631/pose.jsonl +300 -0
  6. Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-40-39_1001089438/pose.jsonl +300 -0
  7. Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-55-11_1344593499/pose.jsonl +300 -0
  8. Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-18-9_772970072/pose.jsonl +300 -0
  9. Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-20-10_1003886059/pose.jsonl +339 -0
  10. Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-28-36_932862806/pose.jsonl +300 -0
  11. Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-34-13_11671338/pose.jsonl +339 -0
  12. Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-41-14_2006138722/pose.jsonl +326 -0
  13. Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-55-31_846621269/pose.jsonl +53 -0
  14. Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-56-13_1936060910/pose.jsonl +378 -0
  15. Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-57-5_989241888/pose.jsonl +326 -0
  16. Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-0-12_396377017/pose.jsonl +261 -0
  17. Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-17-51_394709364/pose.jsonl +352 -0
  18. Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-26-41_612353198/pose.jsonl +287 -0
  19. Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-34-37_990526343/pose.jsonl +339 -0
  20. Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-46-42_1330573317/pose.jsonl +300 -0
  21. Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-54-27_515530019/pose.jsonl +326 -0
  22. Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-15-53_1335354340/pose.jsonl +196 -0
  23. Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-19-4_1402586708/pose.jsonl +261 -0
  24. Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-20-20_201305624/pose.jsonl +287 -0
  25. Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-25-15_824272813/pose.jsonl +261 -0
  26. Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-33-12_1797073940/pose.jsonl +287 -0
  27. Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-35-44_780821396/pose.jsonl +365 -0
  28. Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-39-52_524688209/pose.jsonl +339 -0
  29. Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-40-45_2114937732/pose.jsonl +261 -0
  30. Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-5-20_1789366143/pose.jsonl +261 -0
  31. Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-52-26_624549797/pose.jsonl +313 -0
  32. Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-19-17_1051858969/pose.jsonl +365 -0
  33. Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-19-31_1095966189/pose.jsonl +261 -0
  34. Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-21-10_530498338/pose.jsonl +300 -0
  35. Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-24-14_471990783/pose.jsonl +287 -0
  36. Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-26-38_1152645729/pose.jsonl +261 -0
  37. Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-27-26_1001089438/pose.jsonl +248 -0
  38. Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-27-44_2077211388/pose.jsonl +326 -0
  39. Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-29-45_864101839/pose.jsonl +378 -0
  40. Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-3-19_1543755629/pose.jsonl +326 -0
  41. Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-33-5_1388391521/pose.jsonl +352 -0
  42. Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-34-15_1204462951/pose.jsonl +365 -0
  43. Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-40-26_395279207/pose.jsonl +261 -0
  44. Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-48-1_1124311574/pose.jsonl +261 -0
  45. Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-51-35_639806732/pose.jsonl +274 -0
  46. Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-1-27_34740865/pose.jsonl +352 -0
  47. Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-10-7_356684278/pose.jsonl +326 -0
  48. Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-12-34_217927335/pose.jsonl +339 -0
  49. Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-19-32_1105816539/pose.jsonl +326 -0
  50. Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-27-58_2006138722/pose.jsonl +391 -0
Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-12-33_1974806403/pose.jsonl ADDED
@@ -0,0 +1,235 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 794.3986482828942,
6
+ 162.4563021567789,
7
+ -5.37672487845753
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.5707963267948966
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 794.3986482828942,
19
+ 159.4563021567789,
20
+ -5.37672487845753
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.5707963267948966
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 794.3986482828942,
32
+ 156.4563021567789,
33
+ -5.37672487845753
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.5707963267948966
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 794.3986482828942,
45
+ 153.4563021567789,
46
+ -5.37672487845753
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.5707963267948966
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 794.3986482828942,
58
+ 150.4563021567789,
59
+ -5.37672487845753
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.5707963267948966
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 794.3986482828942,
71
+ 147.4563021567789,
72
+ -5.37672487845753
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.5707963267948966
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 794.3986482828942,
84
+ 144.4563021567789,
85
+ -5.37672487845753
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.5707963267948966
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 794.3986482828942,
97
+ 141.4563021567789,
98
+ -5.37672487845753
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.5707963267948966
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 794.3986482828942,
110
+ 138.4563021567789,
111
+ -5.37672487845753
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.5707963267948966
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 794.3986482828942,
123
+ 135.4563021567789,
124
+ -5.37672487845753
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.5707963267948966
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 794.3986482828942,
136
+ 132.4563021567789,
137
+ -5.37672487845753
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.5707963267948966
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 794.3986482828942,
149
+ 129.4563021567789,
150
+ -5.37672487845753
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.5707963267948966
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 794.3986482828942,
162
+ 126.45630215677889,
163
+ -5.37672487845753
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 794.3986482828942,
175
+ 123.45630215677889,
176
+ -5.37672487845753
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 794.3986482828942,
188
+ 120.45630215677889,
189
+ -5.37672487845753
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 794.3986482828942,
201
+ 117.45630215677889,
202
+ -5.37672487845753
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 794.3986482828942,
214
+ 114.45630215677889,
215
+ -5.37672487845753
216
+ ],
217
+ "type": "stop",
218
+ "value": 0,
219
+ "yaw": -1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "aim_landmark": {
224
+ "color": "test",
225
+ "feature": "test",
226
+ "position": [
227
+ 793.9949005126954,
228
+ 95.9690920829773,
229
+ 0.0
230
+ ],
231
+ "shape": "test",
232
+ "size": "test",
233
+ "type": "building"
234
+ }
235
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-15-35_1543755629/pose.jsonl ADDED
@@ -0,0 +1,248 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 470.10907895173483,
6
+ 324.5953984677621,
7
+ -8.078852705359616
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 471.60907895173483,
19
+ 321.9973222564088,
20
+ -8.078852705359616
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 473.10907895173483,
32
+ 319.39924604505546,
33
+ -8.078852705359616
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 474.60907895173483,
45
+ 316.80116983370215,
46
+ -8.078852705359616
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 476.10907895173483,
58
+ 314.20309362234883,
59
+ -8.078852705359616
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 477.60907895173483,
71
+ 311.6050174109955,
72
+ -8.078852705359616
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 479.10907895173483,
84
+ 309.0069411996422,
85
+ -8.078852705359616
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 480.60907895173483,
97
+ 306.4088649882889,
98
+ -8.078852705359616
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 482.10907895173483,
110
+ 303.81078877693557,
111
+ -8.078852705359616
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 483.60907895173483,
123
+ 301.21271256558225,
124
+ -8.078852705359616
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 485.10907895173483,
136
+ 298.61463635422894,
137
+ -8.078852705359616
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 486.60907895173483,
149
+ 296.0165601428756,
150
+ -8.078852705359616
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 488.10907895173483,
162
+ 293.4184839315223,
163
+ -8.078852705359616
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.0471975511965979
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 489.60907895173483,
175
+ 290.820407720169,
176
+ -8.078852705359616
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.0471975511965979
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 491.10907895173483,
188
+ 288.22233150881567,
189
+ -8.078852705359616
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.0471975511965979
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 492.60907895173483,
201
+ 285.62425529746235,
202
+ -8.078852705359616
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.0471975511965979
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 494.10907895173483,
214
+ 283.02617908610904,
215
+ -8.078852705359616
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.0471975511965979
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 495.60907895173483,
227
+ 280.4281028747557,
228
+ -8.078852705359616
229
+ ],
230
+ "type": "stop",
231
+ "value": 0,
232
+ "yaw": -1.0471975511965979
233
+ }
234
+ }
235
+ {
236
+ "aim_landmark": {
237
+ "color": "test",
238
+ "feature": "test",
239
+ "position": [
240
+ 498.19472236633305,
241
+ 281.0884632110596,
242
+ 0.0
243
+ ],
244
+ "shape": "test",
245
+ "size": "test",
246
+ "type": "building"
247
+ }
248
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-21-21_1081174232/pose.jsonl ADDED
@@ -0,0 +1,300 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 755.2313273712066,
6
+ -509.1050884775296,
7
+ -0.1375928101086803
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 756.7313273712066,
19
+ -506.5070122661763,
20
+ -0.1375928101086803
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 758.2313273712066,
32
+ -503.90893605482296,
33
+ -0.1375928101086803
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 759.7313273712066,
45
+ -501.31085984346964,
46
+ -0.1375928101086803
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 761.2313273712066,
58
+ -498.7127836321163,
59
+ -0.1375928101086803
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 762.7313273712066,
71
+ -496.114707420763,
72
+ -0.1375928101086803
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 764.2313273712066,
84
+ -493.5166312094097,
85
+ -0.1375928101086803
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 765.7313273712066,
97
+ -490.9185549980564,
98
+ -0.1375928101086803
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 767.2313273712066,
110
+ -488.32047878670306,
111
+ -0.1375928101086803
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 768.7313273712066,
123
+ -485.72240257534975,
124
+ -0.1375928101086803
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 770.2313273712066,
136
+ -483.12432636399643,
137
+ -0.1375928101086803
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 771.7313273712066,
149
+ -480.5262501526431,
150
+ -0.1375928101086803
151
+ ],
152
+ "type": "turn left",
153
+ "value": 30,
154
+ "yaw": 1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 771.7313273712066,
162
+ -480.5262501526431,
163
+ -0.1375928101086803
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 771.7313273712066,
175
+ -477.5262501526431,
176
+ -0.1375928101086803
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 771.7313273712066,
188
+ -474.5262501526431,
189
+ -0.1375928101086803
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 771.7313273712066,
201
+ -471.5262501526431,
202
+ -0.1375928101086803
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 771.7313273712066,
214
+ -468.5262501526431,
215
+ -0.1375928101086803
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 771.7313273712066,
227
+ -465.5262501526431,
228
+ -0.1375928101086803
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 771.7313273712066,
240
+ -462.5262501526431,
241
+ -0.1375928101086803
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 771.7313273712066,
253
+ -459.5262501526431,
254
+ -0.1375928101086803
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 771.7313273712066,
266
+ -456.5262501526431,
267
+ -0.1375928101086803
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 771.7313273712066,
279
+ -453.5262501526431,
280
+ -0.1375928101086803
281
+ ],
282
+ "type": "stop",
283
+ "value": 0,
284
+ "yaw": 1.5707963267948966
285
+ }
286
+ }
287
+ {
288
+ "aim_landmark": {
289
+ "color": "test",
290
+ "feature": "test",
291
+ "position": [
292
+ 770.3367736816407,
293
+ -451.65129089355474,
294
+ 0.0
295
+ ],
296
+ "shape": "test",
297
+ "size": "test",
298
+ "type": "building"
299
+ }
300
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-21-8_337453826/pose.jsonl ADDED
@@ -0,0 +1,326 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1277.8344835392124,
6
+ -212.54101200828697,
7
+ -7.480207521585598
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1280.8344835392124,
19
+ -212.54101200828697,
20
+ -7.480207521585598
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1283.8344835392124,
32
+ -212.54101200828697,
33
+ -7.480207521585598
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1286.8344835392124,
45
+ -212.54101200828697,
46
+ -7.480207521585598
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1289.8344835392124,
58
+ -212.54101200828697,
59
+ -7.480207521585598
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.0
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1292.8344835392124,
71
+ -212.54101200828697,
72
+ -7.480207521585598
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.0
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1295.8344835392124,
84
+ -212.54101200828697,
85
+ -7.480207521585598
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.0
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1298.8344835392124,
97
+ -212.54101200828697,
98
+ -7.480207521585598
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.0
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1301.8344835392124,
110
+ -212.54101200828697,
111
+ -7.480207521585598
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 0.0
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1304.8344835392124,
123
+ -212.54101200828697,
124
+ -7.480207521585598
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.0
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1307.8344835392124,
136
+ -212.54101200828697,
137
+ -7.480207521585598
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 0.0
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1310.8344835392124,
149
+ -212.54101200828697,
150
+ -7.480207521585598
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 0.0
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1313.8344835392124,
162
+ -212.54101200828697,
163
+ -7.480207521585598
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 0.0
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1316.8344835392124,
175
+ -212.54101200828697,
176
+ -7.480207521585598
177
+ ],
178
+ "type": "turn right",
179
+ "value": 30,
180
+ "yaw": 0.0
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1316.8344835392124,
188
+ -212.54101200828697,
189
+ -7.480207521585598
190
+ ],
191
+ "type": "turn right",
192
+ "value": 30,
193
+ "yaw": -0.5235987755982988
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1316.8344835392124,
201
+ -212.54101200828697,
202
+ -7.480207521585598
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.0471975511965976
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1318.3344835392124,
214
+ -215.13908821964029,
215
+ -7.480207521585598
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.0471975511965979
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1319.8344835392124,
227
+ -217.7371644309936,
228
+ -7.480207521585598
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.0471975511965979
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1321.3344835392124,
240
+ -220.33524064234692,
241
+ -7.480207521585598
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.0471975511965979
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 1322.8344835392124,
253
+ -222.93331685370023,
254
+ -7.480207521585598
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -1.0471975511965979
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 1324.3344835392124,
266
+ -225.53139306505355,
267
+ -7.480207521585598
268
+ ],
269
+ "type": "turn left",
270
+ "value": 30,
271
+ "yaw": -1.0471975511965979
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 1324.3344835392124,
279
+ -225.53139306505355,
280
+ -7.480207521585598
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -0.523598775598299
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 1326.9325597505658,
292
+ -227.03139306505355,
293
+ -7.480207521585598
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -0.5235987755982894
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 1329.5306359619192,
305
+ -228.53139306505355,
306
+ -7.480207521585598
307
+ ],
308
+ "type": "stop",
309
+ "value": 0,
310
+ "yaw": -0.5235987755982894
311
+ }
312
+ }
313
+ {
314
+ "aim_landmark": {
315
+ "color": "test",
316
+ "feature": "test",
317
+ "position": [
318
+ 1332.318264770508,
319
+ -228.70366058349612,
320
+ 0.0
321
+ ],
322
+ "shape": "test",
323
+ "size": "test",
324
+ "type": "building"
325
+ }
326
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-29-33_885799631/pose.jsonl ADDED
@@ -0,0 +1,300 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 85.64477704456294,
6
+ -611.7200295602512,
7
+ -1.7660048692080128
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.6179938779914944
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 83.04670083320963,
19
+ -610.2200295602512,
20
+ -1.7660048692080128
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.6179938779914944
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 80.44862462185631,
32
+ -608.7200295602512,
33
+ -1.7660048692080128
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.6179938779914944
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 77.850548410503,
45
+ -607.2200295602512,
46
+ -1.7660048692080128
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.6179938779914944
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 75.25247219914968,
58
+ -605.7200295602512,
59
+ -1.7660048692080128
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.6179938779914944
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 72.65439598779636,
71
+ -604.2200295602512,
72
+ -1.7660048692080128
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.6179938779914944
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 70.05631977644305,
84
+ -602.7200295602512,
85
+ -1.7660048692080128
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.6179938779914944
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 67.45824356508973,
97
+ -601.2200295602512,
98
+ -1.7660048692080128
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.6179938779914944
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 64.86016735373641,
110
+ -599.7200295602512,
111
+ -1.7660048692080128
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.6179938779914944
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 62.2620911423831,
123
+ -598.2200295602512,
124
+ -1.7660048692080128
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.6179938779914944
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 59.66401493102978,
136
+ -596.7200295602512,
137
+ -1.7660048692080128
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.6179938779914944
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 57.06593871967647,
149
+ -595.2200295602512,
150
+ -1.7660048692080128
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 2.6179938779914944
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 54.46786250832315,
162
+ -593.7200295602512,
163
+ -1.7660048692080128
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 2.6179938779914944
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 51.869786296969835,
175
+ -592.2200295602512,
176
+ -1.7660048692080128
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 2.6179938779914944
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 49.27171008561652,
188
+ -590.7200295602512,
189
+ -1.7660048692080128
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 2.6179938779914944
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 46.6736338742632,
201
+ -589.2200295602512,
202
+ -1.7660048692080128
203
+ ],
204
+ "type": "turn left",
205
+ "value": 30,
206
+ "yaw": 2.6179938779914944
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 46.6736338742632,
214
+ -589.2200295602512,
215
+ -1.7660048692080128
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 3.141592653589793
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 43.6736338742632,
227
+ -589.2200295602512,
228
+ -1.7660048692080128
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 3.141592653589793
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 40.6736338742632,
240
+ -589.2200295602512,
241
+ -1.7660048692080128
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 3.141592653589793
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 37.6736338742632,
253
+ -589.2200295602512,
254
+ -1.7660048692080128
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 3.141592653589793
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 34.6736338742632,
266
+ -589.2200295602512,
267
+ -1.7660048692080128
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 3.141592653589793
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 31.673633874263203,
279
+ -589.2200295602512,
280
+ -1.7660048692080128
281
+ ],
282
+ "type": "stop",
283
+ "value": 0,
284
+ "yaw": 3.141592653589793
285
+ }
286
+ }
287
+ {
288
+ "aim_landmark": {
289
+ "color": "test",
290
+ "feature": "test",
291
+ "position": [
292
+ 29.783947944641117,
293
+ -587.6620632171631,
294
+ 0.0
295
+ ],
296
+ "shape": "test",
297
+ "size": "test",
298
+ "type": "building"
299
+ }
300
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-40-39_1001089438/pose.jsonl ADDED
@@ -0,0 +1,300 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1381.2577191903902,
6
+ -208.13279733889374,
7
+ -1.0404551523304733
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1384.2577191903902,
19
+ -208.13279733889374,
20
+ -1.0404551523304733
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1387.2577191903902,
32
+ -208.13279733889374,
33
+ -1.0404551523304733
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1390.2577191903902,
45
+ -208.13279733889374,
46
+ -1.0404551523304733
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1393.2577191903902,
58
+ -208.13279733889374,
59
+ -1.0404551523304733
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.0
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1396.2577191903902,
71
+ -208.13279733889374,
72
+ -1.0404551523304733
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.0
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1399.2577191903902,
84
+ -208.13279733889374,
85
+ -1.0404551523304733
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.0
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1402.2577191903902,
97
+ -208.13279733889374,
98
+ -1.0404551523304733
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.0
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1405.2577191903902,
110
+ -208.13279733889374,
111
+ -1.0404551523304733
112
+ ],
113
+ "type": "turn left",
114
+ "value": 30,
115
+ "yaw": 0.0
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1405.2577191903902,
123
+ -208.13279733889374,
124
+ -1.0404551523304733
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.5235987755982988
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1407.8557954017435,
136
+ -206.63279733889374,
137
+ -1.0404551523304733
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 0.5235987755982894
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1410.453871613097,
149
+ -205.13279733889374,
150
+ -1.0404551523304733
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 0.5235987755982894
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1413.0519478244503,
162
+ -203.63279733889374,
163
+ -1.0404551523304733
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 0.5235987755982894
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1415.6500240358037,
175
+ -202.13279733889374,
176
+ -1.0404551523304733
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 0.5235987755982894
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1418.248100247157,
188
+ -200.63279733889374,
189
+ -1.0404551523304733
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 0.5235987755982894
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1420.8461764585104,
201
+ -199.13279733889374,
202
+ -1.0404551523304733
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 0.5235987755982894
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1423.4442526698638,
214
+ -197.63279733889374,
215
+ -1.0404551523304733
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 0.5235987755982894
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1426.0423288812171,
227
+ -196.13279733889374,
228
+ -1.0404551523304733
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 0.5235987755982894
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1428.6404050925705,
240
+ -194.63279733889374,
241
+ -1.0404551523304733
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 0.5235987755982894
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 1431.238481303924,
253
+ -193.13279733889374,
254
+ -1.0404551523304733
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 0.5235987755982894
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 1433.8365575152773,
266
+ -191.63279733889374,
267
+ -1.0404551523304733
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 0.5235987755982894
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 1436.4346337266306,
279
+ -190.13279733889374,
280
+ -1.0404551523304733
281
+ ],
282
+ "type": "stop",
283
+ "value": 0,
284
+ "yaw": 0.5235987755982894
285
+ }
286
+ }
287
+ {
288
+ "aim_landmark": {
289
+ "color": "test",
290
+ "feature": "test",
291
+ "position": [
292
+ 1437.3104949951173,
293
+ -187.02000331878662,
294
+ 0.0
295
+ ],
296
+ "shape": "test",
297
+ "size": "test",
298
+ "type": "building"
299
+ }
300
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-55-11_1344593499/pose.jsonl ADDED
@@ -0,0 +1,300 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1495.7179315661308,
6
+ -204.78173074405612,
7
+ -5.7588568779414135
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.6179938779915037
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1493.1198553547774,
19
+ -203.28173074405612,
20
+ -5.7588568779414135
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.6179938779915037
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1490.521779143424,
32
+ -201.78173074405612,
33
+ -5.7588568779414135
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.6179938779915037
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1487.9237029320707,
45
+ -200.28173074405612,
46
+ -5.7588568779414135
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.6179938779915037
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1485.3256267207173,
58
+ -198.78173074405612,
59
+ -5.7588568779414135
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.6179938779915037
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1482.727550509364,
71
+ -197.28173074405612,
72
+ -5.7588568779414135
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.6179938779915037
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1480.1294742980106,
84
+ -195.78173074405612,
85
+ -5.7588568779414135
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.6179938779915037
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1477.5313980866572,
97
+ -194.28173074405612,
98
+ -5.7588568779414135
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.6179938779915037
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1474.9333218753038,
110
+ -192.78173074405612,
111
+ -5.7588568779414135
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.6179938779915037
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1472.3352456639504,
123
+ -191.28173074405612,
124
+ -5.7588568779414135
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.6179938779915037
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1469.737169452597,
136
+ -189.78173074405612,
137
+ -5.7588568779414135
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.6179938779915037
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1467.1390932412437,
149
+ -188.28173074405612,
150
+ -5.7588568779414135
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 2.6179938779915037
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1464.5410170298903,
162
+ -186.78173074405612,
163
+ -5.7588568779414135
164
+ ],
165
+ "type": "turn left",
166
+ "value": 30,
167
+ "yaw": 2.6179938779915037
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1464.5410170298903,
175
+ -186.78173074405612,
176
+ -5.7588568779414135
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 3.1415926535898024
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1461.5410170298903,
188
+ -186.78173074405612,
189
+ -5.7588568779414135
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 3.141592653589793
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1458.5410170298903,
201
+ -186.78173074405612,
202
+ -5.7588568779414135
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 3.141592653589793
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1455.5410170298903,
214
+ -186.78173074405612,
215
+ -5.7588568779414135
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 3.141592653589793
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1452.5410170298903,
227
+ -186.78173074405612,
228
+ -5.7588568779414135
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 3.141592653589793
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1449.5410170298903,
240
+ -186.78173074405612,
241
+ -5.7588568779414135
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 3.141592653589793
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 1446.5410170298903,
253
+ -186.78173074405612,
254
+ -5.7588568779414135
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 3.141592653589793
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 1443.5410170298903,
266
+ -186.78173074405612,
267
+ -5.7588568779414135
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 3.141592653589793
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 1440.5410170298903,
279
+ -186.78173074405612,
280
+ -5.7588568779414135
281
+ ],
282
+ "type": "stop",
283
+ "value": 0,
284
+ "yaw": 3.141592653589793
285
+ }
286
+ }
287
+ {
288
+ "aim_landmark": {
289
+ "color": "test",
290
+ "feature": "test",
291
+ "position": [
292
+ 1437.3104949951173,
293
+ -187.02000331878662,
294
+ 0.0
295
+ ],
296
+ "shape": "test",
297
+ "size": "test",
298
+ "type": "building"
299
+ }
300
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-18-9_772970072/pose.jsonl ADDED
@@ -0,0 +1,300 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -1.6370491458464684,
6
+ 144.26203756090507,
7
+ -5.99000613755785
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1.3629508541535316,
19
+ 144.26203756090507,
20
+ -5.99000613755785
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 4.362950854153532,
32
+ 144.26203756090507,
33
+ -5.99000613755785
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 7.362950854153532,
45
+ 144.26203756090507,
46
+ -5.99000613755785
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 10.362950854153532,
58
+ 144.26203756090507,
59
+ -5.99000613755785
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.0
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 13.362950854153532,
71
+ 144.26203756090507,
72
+ -5.99000613755785
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.0
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 16.36295085415353,
84
+ 144.26203756090507,
85
+ -5.99000613755785
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.0
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 19.36295085415353,
97
+ 144.26203756090507,
98
+ -5.99000613755785
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.0
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 22.36295085415353,
110
+ 144.26203756090507,
111
+ -5.99000613755785
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 0.0
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 25.36295085415353,
123
+ 144.26203756090507,
124
+ -5.99000613755785
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.0
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 28.36295085415353,
136
+ 144.26203756090507,
137
+ -5.99000613755785
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 0.0
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 31.36295085415353,
149
+ 144.26203756090507,
150
+ -5.99000613755785
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 0.0
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 34.36295085415353,
162
+ 144.26203756090507,
163
+ -5.99000613755785
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 0.0
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 37.36295085415353,
175
+ 144.26203756090507,
176
+ -5.99000613755785
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 0.0
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 40.36295085415353,
188
+ 144.26203756090507,
189
+ -5.99000613755785
190
+ ],
191
+ "type": "turn left",
192
+ "value": 30,
193
+ "yaw": 0.0
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 40.36295085415353,
201
+ 144.26203756090507,
202
+ -5.99000613755785
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 0.5235987755982988
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 42.96102706550685,
214
+ 145.76203756090507,
215
+ -5.99000613755785
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 0.5235987755982988
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 45.559103276860164,
227
+ 147.26203756090507,
228
+ -5.99000613755785
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 0.5235987755982988
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 48.15717948821348,
240
+ 148.76203756090507,
241
+ -5.99000613755785
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 0.5235987755982988
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 50.755255699566796,
253
+ 150.26203756090507,
254
+ -5.99000613755785
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 0.5235987755982988
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 53.35333191092011,
266
+ 151.76203756090507,
267
+ -5.99000613755785
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 0.5235987755982988
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 55.95140812227343,
279
+ 153.26203756090507,
280
+ -5.99000613755785
281
+ ],
282
+ "type": "stop",
283
+ "value": 0,
284
+ "yaw": 0.5235987755982988
285
+ }
286
+ }
287
+ {
288
+ "aim_landmark": {
289
+ "color": "test",
290
+ "feature": "test",
291
+ "position": [
292
+ 59.49086513519288,
293
+ 153.78228397369386,
294
+ 0.0
295
+ ],
296
+ "shape": "test",
297
+ "size": "test",
298
+ "type": "building"
299
+ }
300
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-20-10_1003886059/pose.jsonl ADDED
@@ -0,0 +1,339 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1434.7689504372793,
6
+ 1.25234326415233,
7
+ -7.226438990849885
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 1.5707963267948966
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1434.7689504372793,
19
+ 4.25234326415233,
20
+ -7.226438990849885
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 1.5707963267948966
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1434.7689504372793,
32
+ 7.25234326415233,
33
+ -7.226438990849885
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 1.5707963267948966
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1434.7689504372793,
45
+ 10.25234326415233,
46
+ -7.226438990849885
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 1.5707963267948966
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1434.7689504372793,
58
+ 13.25234326415233,
59
+ -7.226438990849885
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 1.5707963267948966
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1434.7689504372793,
71
+ 16.25234326415233,
72
+ -7.226438990849885
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 1.5707963267948966
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1434.7689504372793,
84
+ 19.25234326415233,
85
+ -7.226438990849885
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 1.5707963267948966
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1434.7689504372793,
97
+ 22.25234326415233,
98
+ -7.226438990849885
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 1.5707963267948966
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1434.7689504372793,
110
+ 25.25234326415233,
111
+ -7.226438990849885
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 1.5707963267948966
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1434.7689504372793,
123
+ 28.25234326415233,
124
+ -7.226438990849885
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 1.5707963267948966
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1434.7689504372793,
136
+ 31.25234326415233,
137
+ -7.226438990849885
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 1.5707963267948966
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1434.7689504372793,
149
+ 34.25234326415233,
150
+ -7.226438990849885
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 1.5707963267948966
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1434.7689504372793,
162
+ 37.25234326415233,
163
+ -7.226438990849885
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1434.7689504372793,
175
+ 40.25234326415233,
176
+ -7.226438990849885
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1434.7689504372793,
188
+ 43.25234326415233,
189
+ -7.226438990849885
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1434.7689504372793,
201
+ 46.25234326415233,
202
+ -7.226438990849885
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1434.7689504372793,
214
+ 49.25234326415233,
215
+ -7.226438990849885
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1434.7689504372793,
227
+ 52.25234326415233,
228
+ -7.226438990849885
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1434.7689504372793,
240
+ 55.25234326415233,
241
+ -7.226438990849885
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 1434.7689504372793,
253
+ 58.25234326415233,
254
+ -7.226438990849885
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 1434.7689504372793,
266
+ 61.25234326415233,
267
+ -7.226438990849885
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 1434.7689504372793,
279
+ 64.25234326415233,
280
+ -7.226438990849885
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 1.5707963267948966
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 1434.7689504372793,
292
+ 67.25234326415233,
293
+ -7.226438990849885
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 1.5707963267948966
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 1434.7689504372793,
305
+ 70.25234326415233,
306
+ -7.226438990849885
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 1.5707963267948966
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 1434.7689504372793,
318
+ 73.25234326415233,
319
+ -7.226438990849885
320
+ ],
321
+ "type": "stop",
322
+ "value": 0,
323
+ "yaw": 1.5707963267948966
324
+ }
325
+ }
326
+ {
327
+ "aim_landmark": {
328
+ "color": "test",
329
+ "feature": "test",
330
+ "position": [
331
+ 1432.5684967041016,
332
+ 76.17316565513612,
333
+ 0.0
334
+ ],
335
+ "shape": "test",
336
+ "size": "test",
337
+ "type": "building"
338
+ }
339
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-28-36_932862806/pose.jsonl ADDED
@@ -0,0 +1,300 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 894.9304832571446,
6
+ -346.20865493682714,
7
+ -7.391809609693804
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 896.4304832571446,
19
+ -343.61057872547383,
20
+ -7.391809609693804
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 897.9304832571446,
32
+ -341.0125025141205,
33
+ -7.391809609693804
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 899.4304832571446,
45
+ -338.4144263027672,
46
+ -7.391809609693804
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 900.9304832571446,
58
+ -335.8163500914139,
59
+ -7.391809609693804
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 902.4304832571446,
71
+ -333.21827388006056,
72
+ -7.391809609693804
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 903.9304832571446,
84
+ -330.62019766870725,
85
+ -7.391809609693804
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 905.4304832571446,
97
+ -328.02212145735393,
98
+ -7.391809609693804
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 906.9304832571446,
110
+ -325.4240452460006,
111
+ -7.391809609693804
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 908.4304832571446,
123
+ -322.8259690346473,
124
+ -7.391809609693804
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 909.9304832571446,
136
+ -320.227892823294,
137
+ -7.391809609693804
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 911.4304832571446,
149
+ -317.62981661194067,
150
+ -7.391809609693804
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 912.9304832571446,
162
+ -315.03174040058735,
163
+ -7.391809609693804
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 1.0471975511965979
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 914.4304832571446,
175
+ -312.43366418923404,
176
+ -7.391809609693804
177
+ ],
178
+ "type": "turn left",
179
+ "value": 30,
180
+ "yaw": 1.0471975511965979
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 914.4304832571446,
188
+ -312.43366418923404,
189
+ -7.391809609693804
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 914.4304832571446,
201
+ -309.43366418923404,
202
+ -7.391809609693804
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 914.4304832571446,
214
+ -306.43366418923404,
215
+ -7.391809609693804
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 914.4304832571446,
227
+ -303.43366418923404,
228
+ -7.391809609693804
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 914.4304832571446,
240
+ -300.43366418923404,
241
+ -7.391809609693804
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 914.4304832571446,
253
+ -297.43366418923404,
254
+ -7.391809609693804
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 914.4304832571446,
266
+ -294.43366418923404,
267
+ -7.391809609693804
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 914.4304832571446,
279
+ -291.43366418923404,
280
+ -7.391809609693804
281
+ ],
282
+ "type": "stop",
283
+ "value": 0,
284
+ "yaw": 1.5707963267948966
285
+ }
286
+ }
287
+ {
288
+ "aim_landmark": {
289
+ "color": "test",
290
+ "feature": "test",
291
+ "position": [
292
+ 919.2332725524903,
293
+ -271.52674827575686,
294
+ 0.0
295
+ ],
296
+ "shape": "test",
297
+ "size": "test",
298
+ "type": "building"
299
+ }
300
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-34-13_11671338/pose.jsonl ADDED
@@ -0,0 +1,339 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1312.5942868875861,
6
+ -96.39632138765195,
7
+ -6.982057891229091
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1315.5942868875861,
19
+ -96.39632138765195,
20
+ -6.982057891229091
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1318.5942868875861,
32
+ -96.39632138765195,
33
+ -6.982057891229091
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1321.5942868875861,
45
+ -96.39632138765195,
46
+ -6.982057891229091
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1324.5942868875861,
58
+ -96.39632138765195,
59
+ -6.982057891229091
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.0
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1327.5942868875861,
71
+ -96.39632138765195,
72
+ -6.982057891229091
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.0
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1330.5942868875861,
84
+ -96.39632138765195,
85
+ -6.982057891229091
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.0
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1333.5942868875861,
97
+ -96.39632138765195,
98
+ -6.982057891229091
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.0
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1336.5942868875861,
110
+ -96.39632138765195,
111
+ -6.982057891229091
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 0.0
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1339.5942868875861,
123
+ -96.39632138765195,
124
+ -6.982057891229091
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.0
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1342.5942868875861,
136
+ -96.39632138765195,
137
+ -6.982057891229091
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 0.0
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1345.5942868875861,
149
+ -96.39632138765195,
150
+ -6.982057891229091
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 0.0
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1348.5942868875861,
162
+ -96.39632138765195,
163
+ -6.982057891229091
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 0.0
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1351.5942868875861,
175
+ -96.39632138765195,
176
+ -6.982057891229091
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 0.0
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1354.5942868875861,
188
+ -96.39632138765195,
189
+ -6.982057891229091
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 0.0
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1357.5942868875861,
201
+ -96.39632138765195,
202
+ -6.982057891229091
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 0.0
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1360.5942868875861,
214
+ -96.39632138765195,
215
+ -6.982057891229091
216
+ ],
217
+ "type": "turn left",
218
+ "value": 30,
219
+ "yaw": 0.0
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1360.5942868875861,
227
+ -96.39632138765195,
228
+ -6.982057891229091
229
+ ],
230
+ "type": "turn left",
231
+ "value": 30,
232
+ "yaw": 0.5235987755982988
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1360.5942868875861,
240
+ -96.39632138765195,
241
+ -6.982057891229091
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 1.0471975511965976
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 1362.0942868875861,
253
+ -93.79824517629864,
254
+ -6.982057891229091
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 1.0471975511965979
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 1363.5942868875861,
266
+ -91.20016896494532,
267
+ -6.982057891229091
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 1.0471975511965979
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 1365.0942868875861,
279
+ -88.602092753592,
280
+ -6.982057891229091
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 1.0471975511965979
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 1366.5942868875861,
292
+ -86.00401654223869,
293
+ -6.982057891229091
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 1.0471975511965979
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 1368.0942868875861,
305
+ -83.40594033088537,
306
+ -6.982057891229091
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 1.0471975511965979
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 1369.5942868875861,
318
+ -80.80786411953206,
319
+ -6.982057891229091
320
+ ],
321
+ "type": "stop",
322
+ "value": 0,
323
+ "yaw": 1.0471975511965979
324
+ }
325
+ }
326
+ {
327
+ "aim_landmark": {
328
+ "color": "test",
329
+ "feature": "test",
330
+ "position": [
331
+ 1381.41708984375,
332
+ -76.18637247085572,
333
+ 0.0
334
+ ],
335
+ "shape": "test",
336
+ "size": "test",
337
+ "type": "building"
338
+ }
339
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-41-14_2006138722/pose.jsonl ADDED
@@ -0,0 +1,326 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 243.04442272185923,
6
+ -131.68885413886764,
7
+ -9.95872722482572
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.5707963267948966
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 243.04442272185923,
19
+ -134.68885413886764,
20
+ -9.95872722482572
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.5707963267948966
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 243.04442272185923,
32
+ -137.68885413886764,
33
+ -9.95872722482572
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.5707963267948966
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 243.04442272185923,
45
+ -140.68885413886764,
46
+ -9.95872722482572
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.5707963267948966
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 243.04442272185923,
58
+ -143.68885413886764,
59
+ -9.95872722482572
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.5707963267948966
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 243.04442272185923,
71
+ -146.68885413886764,
72
+ -9.95872722482572
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.5707963267948966
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 243.04442272185923,
84
+ -149.68885413886764,
85
+ -9.95872722482572
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.5707963267948966
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 243.04442272185923,
97
+ -152.68885413886764,
98
+ -9.95872722482572
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.5707963267948966
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 243.04442272185923,
110
+ -155.68885413886764,
111
+ -9.95872722482572
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.5707963267948966
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 243.04442272185923,
123
+ -158.68885413886764,
124
+ -9.95872722482572
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.5707963267948966
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 243.04442272185923,
136
+ -161.68885413886764,
137
+ -9.95872722482572
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.5707963267948966
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 243.04442272185923,
149
+ -164.68885413886764,
150
+ -9.95872722482572
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.5707963267948966
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 243.04442272185923,
162
+ -167.68885413886764,
163
+ -9.95872722482572
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 243.04442272185923,
175
+ -170.68885413886764,
176
+ -9.95872722482572
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 243.04442272185923,
188
+ -173.68885413886764,
189
+ -9.95872722482572
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 243.04442272185923,
201
+ -176.68885413886764,
202
+ -9.95872722482572
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 243.04442272185923,
214
+ -179.68885413886764,
215
+ -9.95872722482572
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 243.04442272185923,
227
+ -182.68885413886764,
228
+ -9.95872722482572
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 243.04442272185923,
240
+ -185.68885413886764,
241
+ -9.95872722482572
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 243.04442272185923,
253
+ -188.68885413886764,
254
+ -9.95872722482572
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 243.04442272185923,
266
+ -191.68885413886764,
267
+ -9.95872722482572
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 243.04442272185923,
279
+ -194.68885413886764,
280
+ -9.95872722482572
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -1.5707963267948966
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 243.04442272185923,
292
+ -197.68885413886764,
293
+ -9.95872722482572
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -1.5707963267948966
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 243.04442272185923,
305
+ -200.68885413886764,
306
+ -9.95872722482572
307
+ ],
308
+ "type": "stop",
309
+ "value": 0,
310
+ "yaw": -1.5707963267948966
311
+ }
312
+ }
313
+ {
314
+ "aim_landmark": {
315
+ "color": "test",
316
+ "feature": "test",
317
+ "position": [
318
+ 241.1424083709717,
319
+ -202.41772613525393,
320
+ 0.0
321
+ ],
322
+ "shape": "test",
323
+ "size": "test",
324
+ "type": "building"
325
+ }
326
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-55-31_846621269/pose.jsonl ADDED
@@ -0,0 +1,53 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1152.2282709309643,
6
+ -261.18968457895545,
7
+ -2.962493655497937
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1150.7282709309643,
19
+ -258.59160836760213,
20
+ -2.962493655497937
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1149.2282709309643,
32
+ -255.99353215624882,
33
+ -2.962493655497937
34
+ ],
35
+ "type": "stop",
36
+ "value": 0,
37
+ "yaw": 2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "aim_landmark": {
42
+ "color": "test",
43
+ "feature": "test",
44
+ "position": [
45
+ 1136.0676353454592,
46
+ -208.6565689086914,
47
+ 0.0
48
+ ],
49
+ "shape": "test",
50
+ "size": "test",
51
+ "type": "building"
52
+ }
53
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-56-13_1936060910/pose.jsonl ADDED
@@ -0,0 +1,378 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -106.6412070724774,
6
+ -721.1055387201857,
7
+ -2.1798908917511124
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.094395102393186
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -108.1412070724774,
19
+ -718.5074625088323,
20
+ -2.1798908917511124
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.094395102393186
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -109.6412070724774,
32
+ -715.9093862974789,
33
+ -2.1798908917511124
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.094395102393186
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -111.1412070724774,
45
+ -713.3113100861256,
46
+ -2.1798908917511124
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.094395102393186
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -112.6412070724774,
58
+ -710.7132338747722,
59
+ -2.1798908917511124
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.094395102393186
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -114.1412070724774,
71
+ -708.1151576634188,
72
+ -2.1798908917511124
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.094395102393186
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -115.6412070724774,
84
+ -705.5170814520654,
85
+ -2.1798908917511124
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.094395102393186
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -117.1412070724774,
97
+ -702.9190052407121,
98
+ -2.1798908917511124
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.094395102393186
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -118.6412070724774,
110
+ -700.3209290293587,
111
+ -2.1798908917511124
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.094395102393186
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -120.1412070724774,
123
+ -697.7228528180053,
124
+ -2.1798908917511124
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.094395102393186
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -121.6412070724774,
136
+ -695.124776606652,
137
+ -2.1798908917511124
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.094395102393186
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -123.1412070724774,
149
+ -692.5267003952986,
150
+ -2.1798908917511124
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 2.094395102393186
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -124.6412070724774,
162
+ -689.9286241839452,
163
+ -2.1798908917511124
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 2.094395102393186
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -126.1412070724774,
175
+ -687.3305479725918,
176
+ -2.1798908917511124
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 2.094395102393186
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -127.6412070724774,
188
+ -684.7324717612385,
189
+ -2.1798908917511124
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 2.094395102393186
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -129.14120707247739,
201
+ -682.1343955498851,
202
+ -2.1798908917511124
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 2.094395102393182
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -130.64120707247739,
214
+ -679.5363193385317,
215
+ -2.1798908917511124
216
+ ],
217
+ "type": "turn right",
218
+ "value": 30,
219
+ "yaw": 2.094395102393186
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -130.64120707247739,
227
+ -679.5363193385317,
228
+ -2.1798908917511124
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 1.5707963267948872
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -130.64120707247739,
240
+ -676.5363193385317,
241
+ -2.1798908917511124
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -130.64120707247739,
253
+ -673.5363193385317,
254
+ -2.1798908917511124
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -130.64120707247739,
266
+ -670.5363193385317,
267
+ -2.1798908917511124
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -130.64120707247739,
279
+ -667.5363193385317,
280
+ -2.1798908917511124
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 1.5707963267948966
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -130.64120707247739,
292
+ -664.5363193385317,
293
+ -2.1798908917511124
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 1.5707963267948966
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -130.64120707247739,
305
+ -661.5363193385317,
306
+ -2.1798908917511124
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 1.5707963267948966
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -130.64120707247739,
318
+ -658.5363193385317,
319
+ -2.1798908917511124
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 1.5707963267948966
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -130.64120707247739,
331
+ -655.5363193385317,
332
+ -2.1798908917511124
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 1.5707963267948966
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -130.64120707247739,
344
+ -652.5363193385317,
345
+ -2.1798908917511124
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": 1.5707963267948966
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -130.64120707247739,
357
+ -649.5363193385317,
358
+ -2.1798908917511124
359
+ ],
360
+ "type": "stop",
361
+ "value": 0,
362
+ "yaw": 1.5707963267948966
363
+ }
364
+ }
365
+ {
366
+ "aim_landmark": {
367
+ "color": "test",
368
+ "feature": "test",
369
+ "position": [
370
+ -129.48518104553224,
371
+ -646.8201499938965,
372
+ 0.0
373
+ ],
374
+ "shape": "test",
375
+ "size": "test",
376
+ "type": "building"
377
+ }
378
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-57-5_989241888/pose.jsonl ADDED
@@ -0,0 +1,326 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 808.0309480172123,
6
+ -391.20046005065615,
7
+ -9.206972732514027
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 806.5309480172123,
19
+ -393.79853626200946,
20
+ -9.206972732514027
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 805.0309480172123,
32
+ -396.3966124733628,
33
+ -9.206972732514027
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 803.5309480172123,
45
+ -398.9946886847161,
46
+ -9.206972732514027
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.0943951023931953
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 802.0309480172123,
58
+ -401.5927648960694,
59
+ -9.206972732514027
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.0943951023931953
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 800.5309480172123,
71
+ -404.1908411074227,
72
+ -9.206972732514027
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.0943951023931953
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 799.0309480172123,
84
+ -406.78891731877604,
85
+ -9.206972732514027
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.0943951023931953
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 797.5309480172123,
97
+ -409.38699353012936,
98
+ -9.206972732514027
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.0943951023931953
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 796.0309480172123,
110
+ -411.9850697414827,
111
+ -9.206972732514027
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.0943951023931953
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 794.5309480172123,
123
+ -414.583145952836,
124
+ -9.206972732514027
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.0943951023931953
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 793.0309480172123,
136
+ -417.1812221641893,
137
+ -9.206972732514027
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.0943951023931953
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 791.5309480172123,
149
+ -419.7792983755426,
150
+ -9.206972732514027
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.0943951023931953
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 790.0309480172123,
162
+ -422.37737458689594,
163
+ -9.206972732514027
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.0943951023931953
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 788.5309480172123,
175
+ -424.97545079824926,
176
+ -9.206972732514027
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.0943951023931953
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 787.0309480172123,
188
+ -427.57352700960257,
189
+ -9.206972732514027
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.0943951023931953
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 785.5309480172123,
201
+ -430.1716032209559,
202
+ -9.206972732514027
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.0943951023931953
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 784.0309480172123,
214
+ -432.7696794323092,
215
+ -9.206972732514027
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 782.5309480172123,
227
+ -435.3677556436625,
228
+ -9.206972732514027
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -2.0943951023931953
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 781.0309480172123,
240
+ -437.96583185501584,
241
+ -9.206972732514027
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 779.5309480172123,
253
+ -440.56390806636915,
254
+ -9.206972732514027
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -2.0943951023931953
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 778.0309480172123,
266
+ -443.16198427772247,
267
+ -9.206972732514027
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -2.0943951023931953
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 776.5309480172123,
279
+ -445.7600604890758,
280
+ -9.206972732514027
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -2.0943951023931953
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 775.0309480172123,
292
+ -448.3581367004291,
293
+ -9.206972732514027
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -2.0943951023931953
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 773.5309480172123,
305
+ -450.9562129117824,
306
+ -9.206972732514027
307
+ ],
308
+ "type": "stop",
309
+ "value": 0,
310
+ "yaw": -2.0943951023931953
311
+ }
312
+ }
313
+ {
314
+ "aim_landmark": {
315
+ "color": "test",
316
+ "feature": "test",
317
+ "position": [
318
+ 770.3367736816407,
319
+ -451.65129089355474,
320
+ 0.0
321
+ ],
322
+ "shape": "test",
323
+ "size": "test",
324
+ "type": "building"
325
+ }
326
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-0-12_396377017/pose.jsonl ADDED
@@ -0,0 +1,261 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -304.6375689176961,
6
+ -34.235382618491414,
7
+ -4.271276699637726
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -0.5235987755982988
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -302.0394927063428,
19
+ -35.735382618491414,
20
+ -4.271276699637726
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -0.5235987755982988
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -299.4414164949895,
32
+ -37.235382618491414,
33
+ -4.271276699637726
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -0.5235987755982988
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -296.84334028363617,
45
+ -38.735382618491414,
46
+ -4.271276699637726
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -0.5235987755982988
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -294.24526407228285,
58
+ -40.235382618491414,
59
+ -4.271276699637726
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -0.5235987755982988
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -291.64718786092953,
71
+ -41.735382618491414,
72
+ -4.271276699637726
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -0.5235987755982988
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -289.0491116495762,
84
+ -43.235382618491414,
85
+ -4.271276699637726
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -0.5235987755982988
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -286.4510354382229,
97
+ -44.735382618491414,
98
+ -4.271276699637726
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -0.5235987755982988
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -283.8529592268696,
110
+ -46.235382618491414,
111
+ -4.271276699637726
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -0.5235987755982988
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -281.25488301551627,
123
+ -47.735382618491414,
124
+ -4.271276699637726
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -0.5235987755982988
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -278.65680680416295,
136
+ -49.235382618491414,
137
+ -4.271276699637726
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -0.5235987755982988
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -276.05873059280964,
149
+ -50.735382618491414,
150
+ -4.271276699637726
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -0.5235987755982988
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -273.4606543814563,
162
+ -52.235382618491414,
163
+ -4.271276699637726
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -0.5235987755982988
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -270.862578170103,
175
+ -53.735382618491414,
176
+ -4.271276699637726
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -0.5235987755982988
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -268.2645019587497,
188
+ -55.235382618491414,
189
+ -4.271276699637726
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -0.5235987755982988
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -265.6664257473964,
201
+ -56.735382618491414,
202
+ -4.271276699637726
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -0.5235987755982988
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -263.06834953604306,
214
+ -58.235382618491414,
215
+ -4.271276699637726
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -0.5235987755982988
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -260.47027332468974,
227
+ -59.735382618491414,
228
+ -4.271276699637726
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -0.5235987755982988
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -257.8721971133364,
240
+ -61.235382618491414,
241
+ -4.271276699637726
242
+ ],
243
+ "type": "stop",
244
+ "value": 0,
245
+ "yaw": -0.5235987755982988
246
+ }
247
+ }
248
+ {
249
+ "aim_landmark": {
250
+ "color": "test",
251
+ "feature": "test",
252
+ "position": [
253
+ -254.59913692474368,
254
+ -62.6346962928772,
255
+ 0.0
256
+ ],
257
+ "shape": "test",
258
+ "size": "test",
259
+ "type": "building"
260
+ }
261
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-17-51_394709364/pose.jsonl ADDED
@@ -0,0 +1,352 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 68.31392782725057,
6
+ -520.8560753257032,
7
+ -5.348246630198351
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.094395102393186
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 66.81392782725057,
19
+ -523.4541515370565,
20
+ -5.348246630198351
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.094395102393186
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 65.31392782725057,
32
+ -526.0522277484099,
33
+ -5.348246630198351
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.094395102393186
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 63.813927827250566,
45
+ -528.6503039597633,
46
+ -5.348246630198351
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.094395102393186
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 62.313927827250566,
58
+ -531.2483801711167,
59
+ -5.348246630198351
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.094395102393186
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 60.813927827250566,
71
+ -533.84645638247,
72
+ -5.348246630198351
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.094395102393186
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 59.313927827250566,
84
+ -536.4445325938234,
85
+ -5.348246630198351
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.094395102393186
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 57.813927827250566,
97
+ -539.0426088051768,
98
+ -5.348246630198351
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.094395102393186
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 56.313927827250566,
110
+ -541.6406850165301,
111
+ -5.348246630198351
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.094395102393186
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 54.813927827250566,
123
+ -544.2387612278835,
124
+ -5.348246630198351
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.094395102393186
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 53.313927827250566,
136
+ -546.8368374392369,
137
+ -5.348246630198351
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.094395102393186
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 51.813927827250566,
149
+ -549.4349136505903,
150
+ -5.348246630198351
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.094395102393186
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 50.313927827250566,
162
+ -552.0329898619436,
163
+ -5.348246630198351
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.094395102393186
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 48.813927827250566,
175
+ -554.631066073297,
176
+ -5.348246630198351
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.094395102393186
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 47.313927827250566,
188
+ -557.2291422846504,
189
+ -5.348246630198351
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.094395102393186
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 45.813927827250566,
201
+ -559.8272184960038,
202
+ -5.348246630198351
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.094395102393186
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 44.313927827250566,
214
+ -562.4252947073571,
215
+ -5.348246630198351
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -2.094395102393186
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 42.813927827250566,
227
+ -565.0233709187105,
228
+ -5.348246630198351
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -2.094395102393186
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 41.313927827250566,
240
+ -567.6214471300639,
241
+ -5.348246630198351
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -2.094395102393186
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 39.813927827250566,
253
+ -570.2195233414172,
254
+ -5.348246630198351
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -2.094395102393186
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 38.313927827250566,
266
+ -572.8175995527706,
267
+ -5.348246630198351
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -2.094395102393186
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 36.813927827250566,
279
+ -575.415675764124,
280
+ -5.348246630198351
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -2.094395102393186
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 35.313927827250566,
292
+ -578.0137519754774,
293
+ -5.348246630198351
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -2.094395102393186
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 33.813927827250566,
305
+ -580.6118281868307,
306
+ -5.348246630198351
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -2.094395102393186
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 32.313927827250566,
318
+ -583.2099043981841,
319
+ -5.348246630198351
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -2.094395102393186
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 30.813927827250566,
331
+ -585.8079806095375,
332
+ -5.348246630198351
333
+ ],
334
+ "type": "stop",
335
+ "value": 0,
336
+ "yaw": -2.094395102393186
337
+ }
338
+ }
339
+ {
340
+ "aim_landmark": {
341
+ "color": "test",
342
+ "feature": "test",
343
+ "position": [
344
+ 29.783947944641117,
345
+ -587.6620632171631,
346
+ 0.0
347
+ ],
348
+ "shape": "test",
349
+ "size": "test",
350
+ "type": "building"
351
+ }
352
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-26-41_612353198/pose.jsonl ADDED
@@ -0,0 +1,287 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -109.3069394179811,
6
+ -701.8100225915056,
7
+ -4.950015343819273
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.094395102393205
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -110.8069394179811,
19
+ -699.2119463801523,
20
+ -4.950015343819273
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.094395102393205
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -112.3069394179811,
32
+ -696.6138701687989,
33
+ -4.950015343819273
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.094395102393186
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -113.8069394179811,
45
+ -694.0157939574456,
46
+ -4.950015343819273
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.094395102393186
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -115.3069394179811,
58
+ -691.4177177460922,
59
+ -4.950015343819273
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.094395102393186
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -116.8069394179811,
71
+ -688.8196415347388,
72
+ -4.950015343819273
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.094395102393186
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -118.3069394179811,
84
+ -686.2215653233854,
85
+ -4.950015343819273
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.094395102393186
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -119.8069394179811,
97
+ -683.6234891120321,
98
+ -4.950015343819273
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.094395102393186
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -121.3069394179811,
110
+ -681.0254129006787,
111
+ -4.950015343819273
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.094395102393186
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -122.8069394179811,
123
+ -678.4273366893253,
124
+ -4.950015343819273
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.094395102393186
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -124.3069394179811,
136
+ -675.829260477972,
137
+ -4.950015343819273
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.094395102393186
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -125.8069394179811,
149
+ -673.2311842666186,
150
+ -4.950015343819273
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 2.094395102393186
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -127.3069394179811,
162
+ -670.6331080552652,
163
+ -4.950015343819273
164
+ ],
165
+ "type": "turn right",
166
+ "value": 30,
167
+ "yaw": 2.094395102393186
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -127.3069394179811,
175
+ -670.6331080552652,
176
+ -4.950015343819273
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 1.5707963267948872
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -127.3069394179811,
188
+ -667.6331080552652,
189
+ -4.950015343819273
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -127.3069394179811,
201
+ -664.6331080552652,
202
+ -4.950015343819273
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -127.3069394179811,
214
+ -661.6331080552652,
215
+ -4.950015343819273
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -127.3069394179811,
227
+ -658.6331080552652,
228
+ -4.950015343819273
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -127.3069394179811,
240
+ -655.6331080552652,
241
+ -4.950015343819273
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -127.3069394179811,
253
+ -652.6331080552652,
254
+ -4.950015343819273
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -127.3069394179811,
266
+ -649.6331080552652,
267
+ -4.950015343819273
268
+ ],
269
+ "type": "stop",
270
+ "value": 0,
271
+ "yaw": 1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "aim_landmark": {
276
+ "color": "test",
277
+ "feature": "test",
278
+ "position": [
279
+ -129.48518104553224,
280
+ -646.8201499938965,
281
+ 0.0
282
+ ],
283
+ "shape": "test",
284
+ "size": "test",
285
+ "type": "building"
286
+ }
287
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-34-37_990526343/pose.jsonl ADDED
@@ -0,0 +1,339 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -20.42212248651483,
6
+ -7.097202549410042,
7
+ -2.902429101414218
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -18.92212248651483,
19
+ -9.695278760763358,
20
+ -2.902429101414218
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -17.42212248651483,
32
+ -12.293354972116674,
33
+ -2.902429101414218
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -15.92212248651483,
45
+ -14.89143118346999,
46
+ -2.902429101414218
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -14.42212248651483,
58
+ -17.489507394823306,
59
+ -2.902429101414218
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -12.92212248651483,
71
+ -20.087583606176622,
72
+ -2.902429101414218
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -11.42212248651483,
84
+ -22.685659817529938,
85
+ -2.902429101414218
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -9.92212248651483,
97
+ -25.283736028883254,
98
+ -2.902429101414218
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -8.42212248651483,
110
+ -27.88181224023657,
111
+ -2.902429101414218
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -6.92212248651483,
123
+ -30.479888451589886,
124
+ -2.902429101414218
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -5.42212248651483,
136
+ -33.0779646629432,
137
+ -2.902429101414218
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -3.9221224865148296,
149
+ -35.67604087429652,
150
+ -2.902429101414218
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.0471975511965976
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -2.422122486514829,
162
+ -38.274117085649834,
163
+ -2.902429101414218
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.0471975511965976
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -0.9221224865148288,
175
+ -40.87219329700315,
176
+ -2.902429101414218
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.0471975511965976
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 0.5778775134851717,
188
+ -43.470269508356466,
189
+ -2.902429101414218
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.0471975511965976
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 2.077877513485172,
201
+ -46.06834571970978,
202
+ -2.902429101414218
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.0471975511965976
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 3.5778775134851726,
214
+ -48.6664219310631,
215
+ -2.902429101414218
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.0471975511965976
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 5.0778775134851735,
227
+ -51.264498142416414,
228
+ -2.902429101414218
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.0471975511965974
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 6.5778775134851735,
240
+ -53.86257435376973,
241
+ -2.902429101414218
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.0471975511965979
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 8.077877513485173,
253
+ -56.460650565123046,
254
+ -2.902429101414218
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -1.0471975511965979
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 9.577877513485173,
266
+ -59.05872677647636,
267
+ -2.902429101414218
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -1.0471975511965979
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 11.077877513485173,
279
+ -61.65680298782968,
280
+ -2.902429101414218
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -1.0471975511965979
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 12.577877513485173,
292
+ -64.254879199183,
293
+ -2.902429101414218
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -1.0471975511965979
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 14.077877513485173,
305
+ -66.85295541053631,
306
+ -2.902429101414218
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -1.0471975511965979
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 15.577877513485173,
318
+ -69.45103162188963,
319
+ -2.902429101414218
320
+ ],
321
+ "type": "stop",
322
+ "value": 0,
323
+ "yaw": -1.0471975511965979
324
+ }
325
+ }
326
+ {
327
+ "aim_landmark": {
328
+ "color": "test",
329
+ "feature": "test",
330
+ "position": [
331
+ 17.12450046539307,
332
+ -73.06071357727052,
333
+ 0.0
334
+ ],
335
+ "shape": "test",
336
+ "size": "test",
337
+ "type": "building"
338
+ }
339
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-46-42_1330573317/pose.jsonl ADDED
@@ -0,0 +1,300 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1212.6916628872966,
6
+ 151.2230376991357,
7
+ -1.9058915002951178
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1215.6916628872966,
19
+ 151.2230376991357,
20
+ -1.9058915002951178
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1218.6916628872966,
32
+ 151.2230376991357,
33
+ -1.9058915002951178
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1221.6916628872966,
45
+ 151.2230376991357,
46
+ -1.9058915002951178
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1224.6916628872966,
58
+ 151.2230376991357,
59
+ -1.9058915002951178
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.0
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1227.6916628872966,
71
+ 151.2230376991357,
72
+ -1.9058915002951178
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.0
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1230.6916628872966,
84
+ 151.2230376991357,
85
+ -1.9058915002951178
86
+ ],
87
+ "type": "turn left",
88
+ "value": 30,
89
+ "yaw": 0.0
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1230.6916628872966,
97
+ 151.2230376991357,
98
+ -1.9058915002951178
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.5235987755982988
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1233.28973909865,
110
+ 152.7230376991357,
111
+ -1.9058915002951178
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 0.5235987755982894
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1235.8878153100034,
123
+ 154.2230376991357,
124
+ -1.9058915002951178
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.5235987755982894
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1238.4858915213567,
136
+ 155.7230376991357,
137
+ -1.9058915002951178
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 0.5235987755982894
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1241.08396773271,
149
+ 157.2230376991357,
150
+ -1.9058915002951178
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 0.5235987755982894
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1243.6820439440635,
162
+ 158.7230376991357,
163
+ -1.9058915002951178
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 0.5235987755982894
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1246.2801201554169,
175
+ 160.2230376991357,
176
+ -1.9058915002951178
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 0.5235987755982894
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1248.8781963667702,
188
+ 161.7230376991357,
189
+ -1.9058915002951178
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 0.5235987755982894
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1251.4762725781236,
201
+ 163.2230376991357,
202
+ -1.9058915002951178
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 0.5235987755982894
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1254.074348789477,
214
+ 164.7230376991357,
215
+ -1.9058915002951178
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 0.5235987755982894
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1256.6724250008303,
227
+ 166.2230376991357,
228
+ -1.9058915002951178
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 0.5235987755982894
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1259.2705012121837,
240
+ 167.7230376991357,
241
+ -1.9058915002951178
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 0.5235987755982894
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 1261.868577423537,
253
+ 169.2230376991357,
254
+ -1.9058915002951178
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 0.5235987755982894
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 1264.4666536348905,
266
+ 170.7230376991357,
267
+ -1.9058915002951178
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 0.5235987755982894
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 1267.0647298462438,
279
+ 172.2230376991357,
280
+ -1.9058915002951178
281
+ ],
282
+ "type": "stop",
283
+ "value": 0,
284
+ "yaw": 0.5235987755982894
285
+ }
286
+ }
287
+ {
288
+ "aim_landmark": {
289
+ "color": "test",
290
+ "feature": "test",
291
+ "position": [
292
+ 1269.6296508789064,
293
+ 175.0053077697754,
294
+ 0.0
295
+ ],
296
+ "shape": "test",
297
+ "size": "test",
298
+ "type": "building"
299
+ }
300
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-54-27_515530019/pose.jsonl ADDED
@@ -0,0 +1,326 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1540.7292357949132,
6
+ 30.176802483996095,
7
+ -5.377453056717126
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.6179938779915037
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1538.1311595835598,
19
+ 28.676802483996095,
20
+ -5.377453056717126
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.6179938779915037
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1535.5330833722064,
32
+ 27.176802483996095,
33
+ -5.377453056717126
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.6179938779915037
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1532.935007160853,
45
+ 25.676802483996095,
46
+ -5.377453056717126
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.6179938779915037
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1530.3369309494997,
58
+ 24.176802483996095,
59
+ -5.377453056717126
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.6179938779915037
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1527.7388547381463,
71
+ 22.676802483996095,
72
+ -5.377453056717126
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.6179938779915037
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1525.140778526793,
84
+ 21.176802483996095,
85
+ -5.377453056717126
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.6179938779915037
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1522.5427023154396,
97
+ 19.676802483996095,
98
+ -5.377453056717126
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.6179938779915037
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1519.9446261040862,
110
+ 18.176802483996095,
111
+ -5.377453056717126
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.6179938779915037
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1517.3465498927328,
123
+ 16.676802483996095,
124
+ -5.377453056717126
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.6179938779915037
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1514.7484736813794,
136
+ 15.176802483996095,
137
+ -5.377453056717126
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.6179938779915037
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1512.150397470026,
149
+ 13.676802483996095,
150
+ -5.377453056717126
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.6179938779915037
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1509.5523212586727,
162
+ 12.176802483996095,
163
+ -5.377453056717126
164
+ ],
165
+ "type": "turn right",
166
+ "value": 30,
167
+ "yaw": -2.6179938779915037
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1509.5523212586727,
175
+ 12.176802483996095,
176
+ -5.377453056717126
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -3.1415926535898024
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1506.5523212586727,
188
+ 12.176802483996095,
189
+ -5.377453056717126
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 3.141592653589793
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1503.5523212586727,
201
+ 12.176802483996095,
202
+ -5.377453056717126
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 3.141592653589793
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1500.5523212586727,
214
+ 12.176802483996095,
215
+ -5.377453056717126
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 3.141592653589793
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1497.5523212586727,
227
+ 12.176802483996095,
228
+ -5.377453056717126
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 3.141592653589793
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1494.5523212586727,
240
+ 12.176802483996095,
241
+ -5.377453056717126
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 3.141592653589793
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 1491.5523212586727,
253
+ 12.176802483996095,
254
+ -5.377453056717126
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 3.141592653589793
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 1488.5523212586727,
266
+ 12.176802483996095,
267
+ -5.377453056717126
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 3.141592653589793
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 1485.5523212586727,
279
+ 12.176802483996095,
280
+ -5.377453056717126
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 3.141592653589793
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 1482.5523212586727,
292
+ 12.176802483996095,
293
+ -5.377453056717126
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 3.141592653589793
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 1479.5523212586727,
305
+ 12.176802483996095,
306
+ -5.377453056717126
307
+ ],
308
+ "type": "stop",
309
+ "value": 0,
310
+ "yaw": 3.141592653589793
311
+ }
312
+ }
313
+ {
314
+ "aim_landmark": {
315
+ "color": "test",
316
+ "feature": "test",
317
+ "position": [
318
+ 1477.724824523926,
319
+ 10.967879819869996,
320
+ 0.0
321
+ ],
322
+ "shape": "test",
323
+ "size": "test",
324
+ "type": "building"
325
+ }
326
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-15-53_1335354340/pose.jsonl ADDED
@@ -0,0 +1,196 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 536.3598513614612,
6
+ -211.9373704579738,
7
+ -7.263180135753501
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.617993877991485
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 533.761775150108,
19
+ -213.4373704579738,
20
+ -7.263180135753501
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.617993877991485
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 531.1636989387546,
32
+ -214.9373704579738,
33
+ -7.263180135753501
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.6179938779915037
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 528.5656227274012,
45
+ -216.4373704579738,
46
+ -7.263180135753501
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.6179938779915037
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 525.9675465160478,
58
+ -217.9373704579738,
59
+ -7.263180135753501
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.6179938779915037
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 523.3694703046945,
71
+ -219.4373704579738,
72
+ -7.263180135753501
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.6179938779915037
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 520.7713940933411,
84
+ -220.9373704579738,
85
+ -7.263180135753501
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.6179938779915037
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 518.1733178819877,
97
+ -222.4373704579738,
98
+ -7.263180135753501
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.6179938779915037
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 515.5752416706343,
110
+ -223.9373704579738,
111
+ -7.263180135753501
112
+ ],
113
+ "type": "turn right",
114
+ "value": 30,
115
+ "yaw": -2.6179938779915037
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 515.5752416706343,
123
+ -223.9373704579738,
124
+ -7.263180135753501
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -3.1415926535898024
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 512.5752416706343,
136
+ -223.9373704579738,
137
+ -7.263180135753501
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 3.141592653589793
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 509.57524167063434,
149
+ -223.9373704579738,
150
+ -7.263180135753501
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 3.141592653589793
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 506.57524167063434,
162
+ -223.9373704579738,
163
+ -7.263180135753501
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 3.141592653589793
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 503.57524167063434,
175
+ -223.9373704579738,
176
+ -7.263180135753501
177
+ ],
178
+ "type": "stop",
179
+ "value": 0,
180
+ "yaw": 3.141592653589793
181
+ }
182
+ }
183
+ {
184
+ "aim_landmark": {
185
+ "color": "test",
186
+ "feature": "test",
187
+ "position": [
188
+ 485.3397609710694,
189
+ -231.23137340545657,
190
+ 0.0
191
+ ],
192
+ "shape": "test",
193
+ "size": "test",
194
+ "type": "building"
195
+ }
196
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-19-4_1402586708/pose.jsonl ADDED
@@ -0,0 +1,261 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -199.47683605447241,
6
+ -384.8407173015631,
7
+ -3.578916751823755
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.5707963267948966
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -199.47683605447241,
19
+ -387.8407173015631,
20
+ -3.578916751823755
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.5707963267948966
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -199.47683605447241,
32
+ -390.8407173015631,
33
+ -3.578916751823755
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.5707963267948966
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -199.47683605447241,
45
+ -393.8407173015631,
46
+ -3.578916751823755
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.5707963267948966
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -199.47683605447241,
58
+ -396.8407173015631,
59
+ -3.578916751823755
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.5707963267948966
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -199.47683605447241,
71
+ -399.8407173015631,
72
+ -3.578916751823755
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.5707963267948966
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -199.47683605447241,
84
+ -402.8407173015631,
85
+ -3.578916751823755
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.5707963267948966
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -199.47683605447241,
97
+ -405.8407173015631,
98
+ -3.578916751823755
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.5707963267948966
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -199.47683605447241,
110
+ -408.8407173015631,
111
+ -3.578916751823755
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.5707963267948966
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -199.47683605447241,
123
+ -411.8407173015631,
124
+ -3.578916751823755
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.5707963267948966
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -199.47683605447241,
136
+ -414.8407173015631,
137
+ -3.578916751823755
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.5707963267948966
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -199.47683605447241,
149
+ -417.8407173015631,
150
+ -3.578916751823755
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.5707963267948966
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -199.47683605447241,
162
+ -420.8407173015631,
163
+ -3.578916751823755
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -199.47683605447241,
175
+ -423.8407173015631,
176
+ -3.578916751823755
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -199.47683605447241,
188
+ -426.8407173015631,
189
+ -3.578916751823755
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -199.47683605447241,
201
+ -429.8407173015631,
202
+ -3.578916751823755
203
+ ],
204
+ "type": "turn right",
205
+ "value": 30,
206
+ "yaw": -1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -199.47683605447241,
214
+ -429.8407173015631,
215
+ -3.578916751823755
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -200.97683605447241,
227
+ -432.4387935129164,
228
+ -3.578916751823755
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -2.0943951023931953
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -202.47683605447241,
240
+ -435.0368697242697,
241
+ -3.578916751823755
242
+ ],
243
+ "type": "stop",
244
+ "value": 0,
245
+ "yaw": -2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "aim_landmark": {
250
+ "color": "test",
251
+ "feature": "test",
252
+ "position": [
253
+ -204.17917842864992,
254
+ -437.0482559204102,
255
+ 0.0
256
+ ],
257
+ "shape": "test",
258
+ "size": "test",
259
+ "type": "building"
260
+ }
261
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-20-20_201305624/pose.jsonl ADDED
@@ -0,0 +1,287 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 372.8074394600486,
6
+ 260.5705565598365,
7
+ -2.365203154725169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 3.141592653589793
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 369.8074394600486,
19
+ 260.5705565598365,
20
+ -2.365203154725169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 3.141592653589793
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 366.8074394600486,
32
+ 260.5705565598365,
33
+ -2.365203154725169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 3.141592653589793
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 363.8074394600486,
45
+ 260.5705565598365,
46
+ -2.365203154725169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 3.141592653589793
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 360.8074394600486,
58
+ 260.5705565598365,
59
+ -2.365203154725169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 3.141592653589793
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 357.8074394600486,
71
+ 260.5705565598365,
72
+ -2.365203154725169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 3.141592653589793
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 354.8074394600486,
84
+ 260.5705565598365,
85
+ -2.365203154725169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 3.141592653589793
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 351.8074394600486,
97
+ 260.5705565598365,
98
+ -2.365203154725169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 3.141592653589793
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 348.8074394600486,
110
+ 260.5705565598365,
111
+ -2.365203154725169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 3.141592653589793
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 345.8074394600486,
123
+ 260.5705565598365,
124
+ -2.365203154725169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 3.141592653589793
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 342.8074394600486,
136
+ 260.5705565598365,
137
+ -2.365203154725169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 3.141592653589793
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 339.8074394600486,
149
+ 260.5705565598365,
150
+ -2.365203154725169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 3.141592653589793
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 336.8074394600486,
162
+ 260.5705565598365,
163
+ -2.365203154725169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 3.141592653589793
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 333.8074394600486,
175
+ 260.5705565598365,
176
+ -2.365203154725169
177
+ ],
178
+ "type": "turn left",
179
+ "value": 30,
180
+ "yaw": 3.141592653589793
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 333.8074394600486,
188
+ 260.5705565598365,
189
+ -2.365203154725169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 3.665191429188092
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 331.2093632486953,
201
+ 259.0705565598365,
202
+ -2.365203154725169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.6179938779914944
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 328.611287037342,
214
+ 257.5705565598365,
215
+ -2.365203154725169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -2.6179938779914944
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 326.01321082598866,
227
+ 256.0705565598365,
228
+ -2.365203154725169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -2.6179938779914944
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 323.41513461463535,
240
+ 254.57055655983652,
241
+ -2.365203154725169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -2.6179938779914944
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 320.81705840328203,
253
+ 253.07055655983652,
254
+ -2.365203154725169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -2.6179938779914944
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 318.2189821919287,
266
+ 251.57055655983652,
267
+ -2.365203154725169
268
+ ],
269
+ "type": "stop",
270
+ "value": 0,
271
+ "yaw": -2.6179938779914944
272
+ }
273
+ }
274
+ {
275
+ "aim_landmark": {
276
+ "color": "test",
277
+ "feature": "test",
278
+ "position": [
279
+ 317.568487739563,
280
+ 250.2678318023682,
281
+ 0.0
282
+ ],
283
+ "shape": "test",
284
+ "size": "test",
285
+ "type": "building"
286
+ }
287
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-25-15_824272813/pose.jsonl ADDED
@@ -0,0 +1,261 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 46.94367836312908,
6
+ -30.17364802586404,
7
+ -3.2642502609915827
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 45.44367836312908,
19
+ -32.771724237217356,
20
+ -3.2642502609915827
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 43.94367836312908,
32
+ -35.36980044857067,
33
+ -3.2642502609915827
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 42.44367836312908,
45
+ -37.96787665992399,
46
+ -3.2642502609915827
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.0943951023931953
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 40.94367836312908,
58
+ -40.565952871277304,
59
+ -3.2642502609915827
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.0943951023931953
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 39.44367836312908,
71
+ -43.16402908263062,
72
+ -3.2642502609915827
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.0943951023931953
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 37.94367836312908,
84
+ -45.762105293983936,
85
+ -3.2642502609915827
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.0943951023931953
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 36.44367836312908,
97
+ -48.36018150533725,
98
+ -3.2642502609915827
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.0943951023931953
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 34.94367836312908,
110
+ -50.95825771669057,
111
+ -3.2642502609915827
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.0943951023931953
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 33.44367836312908,
123
+ -53.556333928043884,
124
+ -3.2642502609915827
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.0943951023931953
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 31.94367836312908,
136
+ -56.1544101393972,
137
+ -3.2642502609915827
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.0943951023931953
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 30.44367836312908,
149
+ -58.752486350750516,
150
+ -3.2642502609915827
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.0943951023931953
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 28.94367836312908,
162
+ -61.35056256210383,
163
+ -3.2642502609915827
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.0943951023931953
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 27.44367836312908,
175
+ -63.94863877345715,
176
+ -3.2642502609915827
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.0943951023931953
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 25.94367836312908,
188
+ -66.54671498481046,
189
+ -3.2642502609915827
190
+ ],
191
+ "type": "turn right",
192
+ "value": 30,
193
+ "yaw": -2.0943951023931953
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 25.94367836312908,
201
+ -66.54671498481046,
202
+ -3.2642502609915827
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.617993877991494
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 23.345602151775765,
214
+ -68.04671498481046,
215
+ -3.2642502609915827
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -2.6179938779914944
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 20.74752594042245,
227
+ -69.54671498481046,
228
+ -3.2642502609915827
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -2.6179938779914944
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 18.149449729069133,
240
+ -71.04671498481046,
241
+ -3.2642502609915827
242
+ ],
243
+ "type": "stop",
244
+ "value": 0,
245
+ "yaw": -2.6179938779914944
246
+ }
247
+ }
248
+ {
249
+ "aim_landmark": {
250
+ "color": "test",
251
+ "feature": "test",
252
+ "position": [
253
+ 17.12450046539307,
254
+ -73.06071357727052,
255
+ 0.0
256
+ ],
257
+ "shape": "test",
258
+ "size": "test",
259
+ "type": "building"
260
+ }
261
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-33-12_1797073940/pose.jsonl ADDED
@@ -0,0 +1,287 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1027.077161799301,
6
+ 89.31639302972712,
7
+ -5.938715592282466
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1028.577161799301,
19
+ 91.91446924108044,
20
+ -5.938715592282466
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1030.077161799301,
32
+ 94.51254545243376,
33
+ -5.938715592282466
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1031.577161799301,
45
+ 97.11062166378707,
46
+ -5.938715592282466
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1033.077161799301,
58
+ 99.70869787514039,
59
+ -5.938715592282466
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1034.577161799301,
71
+ 102.3067740864937,
72
+ -5.938715592282466
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1036.077161799301,
84
+ 104.90485029784702,
85
+ -5.938715592282466
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1037.577161799301,
97
+ 107.50292650920034,
98
+ -5.938715592282466
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1039.077161799301,
110
+ 110.10100272055365,
111
+ -5.938715592282466
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1040.577161799301,
123
+ 112.69907893190697,
124
+ -5.938715592282466
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1042.077161799301,
136
+ 115.29715514326028,
137
+ -5.938715592282466
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1043.577161799301,
149
+ 117.8952313546136,
150
+ -5.938715592282466
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1045.077161799301,
162
+ 120.49330756596692,
163
+ -5.938715592282466
164
+ ],
165
+ "type": "turn left",
166
+ "value": 30,
167
+ "yaw": 1.0471975511965979
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1045.077161799301,
175
+ 120.49330756596692,
176
+ -5.938715592282466
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1045.077161799301,
188
+ 123.49330756596692,
189
+ -5.938715592282466
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1045.077161799301,
201
+ 126.49330756596692,
202
+ -5.938715592282466
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1045.077161799301,
214
+ 129.49330756596692,
215
+ -5.938715592282466
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1045.077161799301,
227
+ 132.49330756596692,
228
+ -5.938715592282466
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1045.077161799301,
240
+ 135.49330756596692,
241
+ -5.938715592282466
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 1045.077161799301,
253
+ 138.49330756596692,
254
+ -5.938715592282466
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 1045.077161799301,
266
+ 141.49330756596692,
267
+ -5.938715592282466
268
+ ],
269
+ "type": "stop",
270
+ "value": 0,
271
+ "yaw": 1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "aim_landmark": {
276
+ "color": "test",
277
+ "feature": "test",
278
+ "position": [
279
+ 1048.2760719299317,
280
+ 161.26469898223877,
281
+ 0.0
282
+ ],
283
+ "shape": "test",
284
+ "size": "test",
285
+ "type": "building"
286
+ }
287
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-35-44_780821396/pose.jsonl ADDED
@@ -0,0 +1,365 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -224.71261319846846,
6
+ 113.51778777892069,
7
+ -3.5288380935232
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -226.21261319846846,
19
+ 110.91971156756738,
20
+ -3.5288380935232
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -227.71261319846846,
32
+ 108.32163535621406,
33
+ -3.5288380935232
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -229.21261319846846,
45
+ 105.72355914486074,
46
+ -3.5288380935232
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.0943951023931953
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -230.71261319846846,
58
+ 103.12548293350743,
59
+ -3.5288380935232
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.0943951023931953
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -232.21261319846846,
71
+ 100.52740672215411,
72
+ -3.5288380935232
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.0943951023931953
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -233.71261319846846,
84
+ 97.9293305108008,
85
+ -3.5288380935232
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.0943951023931953
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -235.21261319846846,
97
+ 95.33125429944748,
98
+ -3.5288380935232
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.0943951023931953
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -236.71261319846846,
110
+ 92.73317808809416,
111
+ -3.5288380935232
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.0943951023931953
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -238.21261319846846,
123
+ 90.13510187674085,
124
+ -3.5288380935232
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.0943951023931953
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -239.71261319846846,
136
+ 87.53702566538753,
137
+ -3.5288380935232
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.0943951023931953
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -241.21261319846846,
149
+ 84.93894945403422,
150
+ -3.5288380935232
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.0943951023931953
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -242.71261319846846,
162
+ 82.3408732426809,
163
+ -3.5288380935232
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.0943951023931953
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -244.21261319846846,
175
+ 79.74279703132758,
176
+ -3.5288380935232
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.0943951023931953
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -245.71261319846846,
188
+ 77.14472081997427,
189
+ -3.5288380935232
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.0943951023931953
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -247.21261319846846,
201
+ 74.54664460862095,
202
+ -3.5288380935232
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.0943951023931953
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -248.71261319846846,
214
+ 71.94856839726764,
215
+ -3.5288380935232
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -250.21261319846846,
227
+ 69.35049218591432,
228
+ -3.5288380935232
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -2.0943951023931953
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -251.71261319846846,
240
+ 66.752415974561,
241
+ -3.5288380935232
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -253.21261319846846,
253
+ 64.15433976320769,
254
+ -3.5288380935232
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -2.0943951023931953
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -254.71261319846846,
266
+ 61.55626355185437,
267
+ -3.5288380935232
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -2.0943951023931953
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -256.21261319846843,
279
+ 58.958187340501055,
280
+ -3.5288380935232
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -2.0943951023931873
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -257.71261319846843,
292
+ 56.36011112914774,
293
+ -3.5288380935232
294
+ ],
295
+ "type": "turn left",
296
+ "value": 30,
297
+ "yaw": -2.0943951023931953
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -257.71261319846843,
305
+ 56.36011112914774,
306
+ -3.5288380935232
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -1.5707963267948966
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -257.71261319846843,
318
+ 53.36011112914774,
319
+ -3.5288380935232
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -1.5707963267948966
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -257.71261319846843,
331
+ 50.36011112914774,
332
+ -3.5288380935232
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": -1.5707963267948966
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -257.71261319846843,
344
+ 47.36011112914774,
345
+ -3.5288380935232
346
+ ],
347
+ "type": "stop",
348
+ "value": 0,
349
+ "yaw": -1.5707963267948966
350
+ }
351
+ }
352
+ {
353
+ "aim_landmark": {
354
+ "color": "test",
355
+ "feature": "test",
356
+ "position": [
357
+ -259.2387418746948,
358
+ 45.236197376251226,
359
+ 0.0
360
+ ],
361
+ "shape": "test",
362
+ "size": "test",
363
+ "type": "building"
364
+ }
365
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-39-52_524688209/pose.jsonl ADDED
@@ -0,0 +1,339 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -86.98734846154586,
6
+ -679.030448901891,
7
+ -3.0354482557959077
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 1.0471975511965883
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -85.48734846154586,
19
+ -676.4323726905377,
20
+ -3.0354482557959077
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 1.0471975511965883
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -83.98734846154586,
32
+ -673.8342964791843,
33
+ -3.0354482557959077
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 1.0471975511966072
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -82.48734846154586,
45
+ -671.236220267831,
46
+ -3.0354482557959077
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 1.0471975511966072
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -80.98734846154586,
58
+ -668.6381440564776,
59
+ -3.0354482557959077
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 1.0471975511966072
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -79.48734846154586,
71
+ -666.0400678451242,
72
+ -3.0354482557959077
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 1.0471975511966072
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -77.98734846154586,
84
+ -663.4419916337708,
85
+ -3.0354482557959077
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 1.0471975511966072
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -76.48734846154586,
97
+ -660.8439154224175,
98
+ -3.0354482557959077
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 1.0471975511966072
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -74.98734846154586,
110
+ -658.2458392110641,
111
+ -3.0354482557959077
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 1.0471975511966072
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -73.48734846154586,
123
+ -655.6477629997107,
124
+ -3.0354482557959077
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 1.0471975511966072
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -71.98734846154586,
136
+ -653.0496867883573,
137
+ -3.0354482557959077
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 1.0471975511966072
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -70.48734846154586,
149
+ -650.451610577004,
150
+ -3.0354482557959077
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 1.0471975511966072
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -68.98734846154586,
162
+ -647.8535343656506,
163
+ -3.0354482557959077
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 1.0471975511966072
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -67.48734846154586,
175
+ -645.2554581542972,
176
+ -3.0354482557959077
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 1.0471975511966072
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -65.98734846154586,
188
+ -642.6573819429439,
189
+ -3.0354482557959077
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 1.0471975511966072
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -64.48734846154586,
201
+ -640.0593057315905,
202
+ -3.0354482557959077
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 1.0471975511966072
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -62.987348461545864,
214
+ -637.4612295202371,
215
+ -3.0354482557959077
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 1.0471975511966072
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -61.487348461545864,
227
+ -634.8631533088837,
228
+ -3.0354482557959077
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 1.0471975511966072
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -59.987348461545864,
240
+ -632.2650770975304,
241
+ -3.0354482557959077
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 1.0471975511966072
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -58.487348461545864,
253
+ -629.667000886177,
254
+ -3.0354482557959077
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 1.0471975511966072
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -56.987348461545864,
266
+ -627.0689246748236,
267
+ -3.0354482557959077
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 1.0471975511966072
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -55.487348461545864,
279
+ -624.4708484634702,
280
+ -3.0354482557959077
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 1.0471975511966072
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -53.987348461545864,
292
+ -621.8727722521169,
293
+ -3.0354482557959077
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 1.0471975511966072
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -52.487348461545864,
305
+ -619.2746960407635,
306
+ -3.0354482557959077
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 1.0471975511966072
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -50.987348461545864,
318
+ -616.6766198294101,
319
+ -3.0354482557959077
320
+ ],
321
+ "type": "stop",
322
+ "value": 0,
323
+ "yaw": 1.0471975511966072
324
+ }
325
+ }
326
+ {
327
+ "aim_landmark": {
328
+ "color": "test",
329
+ "feature": "test",
330
+ "position": [
331
+ -52.7497802734375,
332
+ -613.6590488433839,
333
+ 0.0
334
+ ],
335
+ "shape": "test",
336
+ "size": "test",
337
+ "type": "building"
338
+ }
339
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-40-45_2114937732/pose.jsonl ADDED
@@ -0,0 +1,261 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1205.4977343451812,
6
+ -211.5840405300468,
7
+ -7.234750391067907
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 3.141592653589793
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1202.4977343451812,
19
+ -211.5840405300468,
20
+ -7.234750391067907
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 3.141592653589793
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1199.4977343451812,
32
+ -211.5840405300468,
33
+ -7.234750391067907
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 3.141592653589793
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1196.4977343451812,
45
+ -211.5840405300468,
46
+ -7.234750391067907
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 3.141592653589793
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1193.4977343451812,
58
+ -211.5840405300468,
59
+ -7.234750391067907
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 3.141592653589793
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1190.4977343451812,
71
+ -211.5840405300468,
72
+ -7.234750391067907
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 3.141592653589793
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1187.4977343451812,
84
+ -211.5840405300468,
85
+ -7.234750391067907
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 3.141592653589793
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1184.4977343451812,
97
+ -211.5840405300468,
98
+ -7.234750391067907
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 3.141592653589793
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1181.4977343451812,
110
+ -211.5840405300468,
111
+ -7.234750391067907
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 3.141592653589793
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1178.4977343451812,
123
+ -211.5840405300468,
124
+ -7.234750391067907
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 3.141592653589793
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1175.4977343451812,
136
+ -211.5840405300468,
137
+ -7.234750391067907
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 3.141592653589793
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1172.4977343451812,
149
+ -211.5840405300468,
150
+ -7.234750391067907
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 3.141592653589793
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1169.4977343451812,
162
+ -211.5840405300468,
163
+ -7.234750391067907
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 3.141592653589793
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1166.4977343451812,
175
+ -211.5840405300468,
176
+ -7.234750391067907
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 3.141592653589793
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1163.4977343451812,
188
+ -211.5840405300468,
189
+ -7.234750391067907
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 3.141592653589793
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1160.4977343451812,
201
+ -211.5840405300468,
202
+ -7.234750391067907
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 3.141592653589793
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1157.4977343451812,
214
+ -211.5840405300468,
215
+ -7.234750391067907
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 3.141592653589793
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1154.4977343451812,
227
+ -211.5840405300468,
228
+ -7.234750391067907
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 3.141592653589793
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1151.4977343451812,
240
+ -211.5840405300468,
241
+ -7.234750391067907
242
+ ],
243
+ "type": "stop",
244
+ "value": 0,
245
+ "yaw": 3.141592653589793
246
+ }
247
+ }
248
+ {
249
+ "aim_landmark": {
250
+ "color": "test",
251
+ "feature": "test",
252
+ "position": [
253
+ 1136.0676353454592,
254
+ -208.6565689086914,
255
+ 0.0
256
+ ],
257
+ "shape": "test",
258
+ "size": "test",
259
+ "type": "building"
260
+ }
261
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-5-20_1789366143/pose.jsonl ADDED
@@ -0,0 +1,261 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -4.609383303985549,
6
+ -547.3116895017833,
7
+ -2.8714069902981603
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.0471975511966072
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -3.1093833039855485,
19
+ -549.9097657131367,
20
+ -2.8714069902981603
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.0471975511966072
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -1.609383303985548,
32
+ -552.5078419244901,
33
+ -2.8714069902981603
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.0471975511966072
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -0.10938330398554763,
45
+ -555.1059181358435,
46
+ -2.8714069902981603
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.0471975511966072
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1.3906166960144528,
58
+ -557.7039943471968,
59
+ -2.8714069902981603
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.0471975511966072
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 2.8906166960144533,
71
+ -560.3020705585502,
72
+ -2.8714069902981603
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.0471975511966072
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 4.390616696014454,
84
+ -562.9001467699036,
85
+ -2.8714069902981603
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.0471975511966072
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 5.890616696014455,
97
+ -565.498222981257,
98
+ -2.8714069902981603
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.047197551196607
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 7.390616696014455,
110
+ -568.0962991926103,
111
+ -2.8714069902981603
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.0471975511966072
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 8.890616696014455,
123
+ -570.6943754039637,
124
+ -2.8714069902981603
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.0471975511966072
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 10.390616696014455,
136
+ -573.2924516153171,
137
+ -2.8714069902981603
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.0471975511966072
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 11.890616696014455,
149
+ -575.8905278266704,
150
+ -2.8714069902981603
151
+ ],
152
+ "type": "turn left",
153
+ "value": 30,
154
+ "yaw": -1.0471975511966072
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 11.890616696014455,
162
+ -575.8905278266704,
163
+ -2.8714069902981603
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -0.5235987755983084
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 14.48869290736777,
175
+ -577.3905278266704,
176
+ -2.8714069902981603
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -0.5235987755982988
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 17.086769118721087,
188
+ -578.8905278266704,
189
+ -2.8714069902981603
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -0.5235987755982988
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 19.684845330074403,
201
+ -580.3905278266704,
202
+ -2.8714069902981603
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -0.5235987755982988
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 22.28292154142772,
214
+ -581.8905278266704,
215
+ -2.8714069902981603
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -0.5235987755982988
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 24.880997752781035,
227
+ -583.3905278266704,
228
+ -2.8714069902981603
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -0.5235987755982988
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 27.47907396413435,
240
+ -584.8905278266704,
241
+ -2.8714069902981603
242
+ ],
243
+ "type": "stop",
244
+ "value": 0,
245
+ "yaw": -0.5235987755982988
246
+ }
247
+ }
248
+ {
249
+ "aim_landmark": {
250
+ "color": "test",
251
+ "feature": "test",
252
+ "position": [
253
+ 29.783947944641117,
254
+ -587.6620632171631,
255
+ 0.0
256
+ ],
257
+ "shape": "test",
258
+ "size": "test",
259
+ "type": "building"
260
+ }
261
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-52-26_624549797/pose.jsonl ADDED
@@ -0,0 +1,313 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 213.4477305674728,
6
+ -697.4476169950124,
7
+ -0.20427014428589807
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 1.0471975511966072
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 214.9477305674728,
19
+ -694.849540783659,
20
+ -0.20427014428589807
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 1.0471975511966072
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 216.4477305674728,
32
+ -692.2514645723056,
33
+ -0.20427014428589807
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 1.0471975511966072
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 217.9477305674728,
45
+ -689.6533883609522,
46
+ -0.20427014428589807
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 1.0471975511966072
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 219.4477305674728,
58
+ -687.0553121495989,
59
+ -0.20427014428589807
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 1.0471975511966072
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 220.9477305674728,
71
+ -684.4572359382455,
72
+ -0.20427014428589807
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 1.0471975511966072
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 222.4477305674728,
84
+ -681.8591597268921,
85
+ -0.20427014428589807
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 1.0471975511966072
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 223.9477305674728,
97
+ -679.2610835155388,
98
+ -0.20427014428589807
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 1.0471975511966072
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 225.4477305674728,
110
+ -676.6630073041854,
111
+ -0.20427014428589807
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 1.0471975511966072
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 226.9477305674728,
123
+ -674.064931092832,
124
+ -0.20427014428589807
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 1.0471975511966072
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 228.4477305674728,
136
+ -671.4668548814786,
137
+ -0.20427014428589807
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 1.0471975511966072
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 229.9477305674728,
149
+ -668.8687786701253,
150
+ -0.20427014428589807
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 1.0471975511966072
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 231.4477305674728,
162
+ -666.2707024587719,
163
+ -0.20427014428589807
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 1.0471975511966072
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 232.9477305674728,
175
+ -663.6726262474185,
176
+ -0.20427014428589807
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 1.0471975511966072
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 234.4477305674728,
188
+ -661.0745500360651,
189
+ -0.20427014428589807
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 1.0471975511966072
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 235.9477305674728,
201
+ -658.4764738247118,
202
+ -0.20427014428589807
203
+ ],
204
+ "type": "turn left",
205
+ "value": 30,
206
+ "yaw": 1.0471975511966072
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 235.9477305674728,
214
+ -658.4764738247118,
215
+ -0.20427014428589807
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 1.5707963267949059
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 235.9477305674728,
227
+ -655.4764738247118,
228
+ -0.20427014428589807
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 235.9477305674728,
240
+ -652.4764738247118,
241
+ -0.20427014428589807
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 235.9477305674728,
253
+ -649.4764738247118,
254
+ -0.20427014428589807
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 235.9477305674728,
266
+ -646.4764738247118,
267
+ -0.20427014428589807
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 235.9477305674728,
279
+ -643.4764738247118,
280
+ -0.20427014428589807
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 1.5707963267948966
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 235.9477305674728,
292
+ -640.4764738247118,
293
+ -0.20427014428589807
294
+ ],
295
+ "type": "stop",
296
+ "value": 0,
297
+ "yaw": 1.5707963267948966
298
+ }
299
+ }
300
+ {
301
+ "aim_landmark": {
302
+ "color": "test",
303
+ "feature": "test",
304
+ "position": [
305
+ 237.59388580322266,
306
+ -636.861552810669,
307
+ 0.0
308
+ ],
309
+ "shape": "test",
310
+ "size": "test",
311
+ "type": "building"
312
+ }
313
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-19-17_1051858969/pose.jsonl ADDED
@@ -0,0 +1,365 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 233.68744121696983,
6
+ 266.7796922353069,
7
+ -4.528530200718333
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.5707963267948966
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 233.68744121696983,
19
+ 263.7796922353069,
20
+ -4.528530200718333
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.5707963267948966
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 233.68744121696983,
32
+ 260.7796922353069,
33
+ -4.528530200718333
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.5707963267948966
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 233.68744121696983,
45
+ 257.7796922353069,
46
+ -4.528530200718333
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.5707963267948966
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 233.68744121696983,
58
+ 254.77969223530692,
59
+ -4.528530200718333
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.5707963267948966
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 233.68744121696983,
71
+ 251.77969223530692,
72
+ -4.528530200718333
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.5707963267948966
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 233.68744121696983,
84
+ 248.77969223530692,
85
+ -4.528530200718333
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.5707963267948966
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 233.68744121696983,
97
+ 245.77969223530692,
98
+ -4.528530200718333
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.5707963267948966
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 233.68744121696983,
110
+ 242.77969223530692,
111
+ -4.528530200718333
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.5707963267948966
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 233.68744121696983,
123
+ 239.77969223530692,
124
+ -4.528530200718333
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.5707963267948966
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 233.68744121696983,
136
+ 236.77969223530692,
137
+ -4.528530200718333
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.5707963267948966
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 233.68744121696983,
149
+ 233.77969223530692,
150
+ -4.528530200718333
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.5707963267948966
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 233.68744121696983,
162
+ 230.77969223530692,
163
+ -4.528530200718333
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 233.68744121696983,
175
+ 227.77969223530692,
176
+ -4.528530200718333
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 233.68744121696983,
188
+ 224.77969223530692,
189
+ -4.528530200718333
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 233.68744121696983,
201
+ 221.77969223530692,
202
+ -4.528530200718333
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 233.68744121696983,
214
+ 218.77969223530692,
215
+ -4.528530200718333
216
+ ],
217
+ "type": "turn left",
218
+ "value": 30,
219
+ "yaw": -1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 233.68744121696983,
227
+ 218.77969223530692,
228
+ -4.528530200718333
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.0471975511965979
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 235.18744121696983,
240
+ 216.1816160239536,
241
+ -4.528530200718333
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.0471975511965979
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 236.68744121696983,
253
+ 213.5835398126003,
254
+ -4.528530200718333
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -1.0471975511965979
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 238.18744121696983,
266
+ 210.98546360124698,
267
+ -4.528530200718333
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -1.0471975511965979
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 239.68744121696983,
279
+ 208.38738738989366,
280
+ -4.528530200718333
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -1.0471975511965979
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 241.18744121696983,
292
+ 205.78931117854034,
293
+ -4.528530200718333
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -1.0471975511965979
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 242.68744121696983,
305
+ 203.19123496718703,
306
+ -4.528530200718333
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -1.0471975511965979
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 244.18744121696983,
318
+ 200.5931587558337,
319
+ -4.528530200718333
320
+ ],
321
+ "type": "turn right",
322
+ "value": 30,
323
+ "yaw": -1.0471975511965979
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 244.18744121696983,
331
+ 200.5931587558337,
332
+ -4.528530200718333
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": -1.5707963267948966
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ 244.18744121696983,
344
+ 197.5931587558337,
345
+ -4.528530200718333
346
+ ],
347
+ "type": "stop",
348
+ "value": 0,
349
+ "yaw": -1.5707963267948966
350
+ }
351
+ }
352
+ {
353
+ "aim_landmark": {
354
+ "color": "test",
355
+ "feature": "test",
356
+ "position": [
357
+ 243.237640953064,
358
+ 194.2933292388916,
359
+ 0.0
360
+ ],
361
+ "shape": "test",
362
+ "size": "test",
363
+ "type": "building"
364
+ }
365
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-19-31_1095966189/pose.jsonl ADDED
@@ -0,0 +1,261 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 15.236107176898926,
6
+ -638.1811959928508,
7
+ -6.790691742728657
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 1.0471975511965883
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 16.736107176898926,
19
+ -635.5831197814975,
20
+ -6.790691742728657
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 1.0471975511965883
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 18.236107176898926,
32
+ -632.9850435701442,
33
+ -6.790691742728657
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 1.0471975511966072
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 19.736107176898926,
45
+ -630.3869673587908,
46
+ -6.790691742728657
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 1.0471975511966072
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 21.236107176898926,
58
+ -627.7888911474374,
59
+ -6.790691742728657
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 1.0471975511966072
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 22.736107176898926,
71
+ -625.190814936084,
72
+ -6.790691742728657
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 1.0471975511966072
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 24.236107176898926,
84
+ -622.5927387247307,
85
+ -6.790691742728657
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 1.0471975511966072
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 25.736107176898926,
97
+ -619.9946625133773,
98
+ -6.790691742728657
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 1.0471975511966072
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 27.236107176898926,
110
+ -617.3965863020239,
111
+ -6.790691742728657
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 1.0471975511966072
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 28.736107176898926,
123
+ -614.7985100906706,
124
+ -6.790691742728657
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 1.0471975511966072
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 30.236107176898926,
136
+ -612.2004338793172,
137
+ -6.790691742728657
138
+ ],
139
+ "type": "turn left",
140
+ "value": 30,
141
+ "yaw": 1.0471975511966072
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 30.236107176898926,
149
+ -612.2004338793172,
150
+ -6.790691742728657
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 1.5707963267949059
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 30.236107176898926,
162
+ -609.2004338793172,
163
+ -6.790691742728657
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 30.236107176898926,
175
+ -606.2004338793172,
176
+ -6.790691742728657
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 30.236107176898926,
188
+ -603.2004338793172,
189
+ -6.790691742728657
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 30.236107176898926,
201
+ -600.2004338793172,
202
+ -6.790691742728657
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 30.236107176898926,
214
+ -597.2004338793172,
215
+ -6.790691742728657
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 30.236107176898926,
227
+ -594.2004338793172,
228
+ -6.790691742728657
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 30.236107176898926,
240
+ -591.2004338793172,
241
+ -6.790691742728657
242
+ ],
243
+ "type": "stop",
244
+ "value": 0,
245
+ "yaw": 1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "aim_landmark": {
250
+ "color": "test",
251
+ "feature": "test",
252
+ "position": [
253
+ 29.783947944641117,
254
+ -587.6620632171631,
255
+ 0.0
256
+ ],
257
+ "shape": "test",
258
+ "size": "test",
259
+ "type": "building"
260
+ }
261
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-21-10_530498338/pose.jsonl ADDED
@@ -0,0 +1,300 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 184.6175949712329,
6
+ -196.5952779621156,
7
+ -3.0295059485625986
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 187.6175949712329,
19
+ -196.5952779621156,
20
+ -3.0295059485625986
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 190.6175949712329,
32
+ -196.5952779621156,
33
+ -3.0295059485625986
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 193.6175949712329,
45
+ -196.5952779621156,
46
+ -3.0295059485625986
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 196.6175949712329,
58
+ -196.5952779621156,
59
+ -3.0295059485625986
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.0
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 199.6175949712329,
71
+ -196.5952779621156,
72
+ -3.0295059485625986
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.0
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 202.6175949712329,
84
+ -196.5952779621156,
85
+ -3.0295059485625986
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.0
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 205.6175949712329,
97
+ -196.5952779621156,
98
+ -3.0295059485625986
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.0
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 208.6175949712329,
110
+ -196.5952779621156,
111
+ -3.0295059485625986
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 0.0
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 211.6175949712329,
123
+ -196.5952779621156,
124
+ -3.0295059485625986
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.0
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 214.6175949712329,
136
+ -196.5952779621156,
137
+ -3.0295059485625986
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 0.0
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 217.6175949712329,
149
+ -196.5952779621156,
150
+ -3.0295059485625986
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 0.0
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 220.6175949712329,
162
+ -196.5952779621156,
163
+ -3.0295059485625986
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 0.0
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 223.6175949712329,
175
+ -196.5952779621156,
176
+ -3.0295059485625986
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 0.0
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 226.6175949712329,
188
+ -196.5952779621156,
189
+ -3.0295059485625986
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 0.0
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 229.6175949712329,
201
+ -196.5952779621156,
202
+ -3.0295059485625986
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 0.0
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 232.6175949712329,
214
+ -196.5952779621156,
215
+ -3.0295059485625986
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 0.0
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 235.6175949712329,
227
+ -196.5952779621156,
228
+ -3.0295059485625986
229
+ ],
230
+ "type": "turn right",
231
+ "value": 30,
232
+ "yaw": 0.0
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 235.6175949712329,
240
+ -196.5952779621156,
241
+ -3.0295059485625986
242
+ ],
243
+ "type": "turn right",
244
+ "value": 30,
245
+ "yaw": -0.5235987755982988
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 235.6175949712329,
253
+ -196.5952779621156,
254
+ -3.0295059485625986
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -1.0471975511965976
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 237.1175949712329,
266
+ -199.19335417346892,
267
+ -3.0295059485625986
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -1.0471975511965979
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 238.6175949712329,
279
+ -201.79143038482223,
280
+ -3.0295059485625986
281
+ ],
282
+ "type": "stop",
283
+ "value": 0,
284
+ "yaw": -1.0471975511965979
285
+ }
286
+ }
287
+ {
288
+ "aim_landmark": {
289
+ "color": "test",
290
+ "feature": "test",
291
+ "position": [
292
+ 241.1424083709717,
293
+ -202.41772613525393,
294
+ 0.0
295
+ ],
296
+ "shape": "test",
297
+ "size": "test",
298
+ "type": "building"
299
+ }
300
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-24-14_471990783/pose.jsonl ADDED
@@ -0,0 +1,287 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1298.3235907796409,
6
+ 251.54003711237348,
7
+ -0.7420402030089566
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1299.8235907796409,
19
+ 248.94196090102017,
20
+ -0.7420402030089566
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1301.3235907796409,
32
+ 246.34388468966685,
33
+ -0.7420402030089566
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1302.8235907796409,
45
+ 243.74580847831353,
46
+ -0.7420402030089566
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1304.3235907796409,
58
+ 241.14773226696022,
59
+ -0.7420402030089566
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1305.8235907796409,
71
+ 238.5496560556069,
72
+ -0.7420402030089566
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1307.3235907796409,
84
+ 235.9515798442536,
85
+ -0.7420402030089566
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1308.8235907796409,
97
+ 233.35350363290027,
98
+ -0.7420402030089566
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1310.3235907796409,
110
+ 230.75542742154695,
111
+ -0.7420402030089566
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1311.8235907796409,
123
+ 228.15735121019364,
124
+ -0.7420402030089566
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1313.3235907796409,
136
+ 225.55927499884032,
137
+ -0.7420402030089566
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1314.8235907796409,
149
+ 222.961198787487,
150
+ -0.7420402030089566
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1316.3235907796409,
162
+ 220.3631225761337,
163
+ -0.7420402030089566
164
+ ],
165
+ "type": "turn right",
166
+ "value": 30,
167
+ "yaw": -1.0471975511965979
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1316.3235907796409,
175
+ 220.3631225761337,
176
+ -0.7420402030089566
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1316.3235907796409,
188
+ 217.3631225761337,
189
+ -0.7420402030089566
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1316.3235907796409,
201
+ 214.3631225761337,
202
+ -0.7420402030089566
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1316.3235907796409,
214
+ 211.3631225761337,
215
+ -0.7420402030089566
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1316.3235907796409,
227
+ 208.3631225761337,
228
+ -0.7420402030089566
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1316.3235907796409,
240
+ 205.3631225761337,
241
+ -0.7420402030089566
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 1316.3235907796409,
253
+ 202.3631225761337,
254
+ -0.7420402030089566
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 1316.3235907796409,
266
+ 199.3631225761337,
267
+ -0.7420402030089566
268
+ ],
269
+ "type": "stop",
270
+ "value": 0,
271
+ "yaw": -1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "aim_landmark": {
276
+ "color": "test",
277
+ "feature": "test",
278
+ "position": [
279
+ 1318.4154022216799,
280
+ 197.2680404663086,
281
+ 0.0
282
+ ],
283
+ "shape": "test",
284
+ "size": "test",
285
+ "type": "building"
286
+ }
287
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-26-38_1152645729/pose.jsonl ADDED
@@ -0,0 +1,261 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1258.0153680638698,
6
+ 224.02561213584943,
7
+ -7.060603580575341
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1259.5153680638698,
19
+ 221.4275359244961,
20
+ -7.060603580575341
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1261.0153680638698,
32
+ 218.8294597131428,
33
+ -7.060603580575341
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1262.5153680638698,
45
+ 216.23138350178948,
46
+ -7.060603580575341
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1264.0153680638698,
58
+ 213.63330729043616,
59
+ -7.060603580575341
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1265.5153680638698,
71
+ 211.03523107908285,
72
+ -7.060603580575341
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1267.0153680638698,
84
+ 208.43715486772953,
85
+ -7.060603580575341
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1268.5153680638698,
97
+ 205.83907865637622,
98
+ -7.060603580575341
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1270.0153680638698,
110
+ 203.2410024450229,
111
+ -7.060603580575341
112
+ ],
113
+ "type": "turn right",
114
+ "value": 30,
115
+ "yaw": -1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1270.0153680638698,
123
+ 203.2410024450229,
124
+ -7.060603580575341
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.5707963267948966
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1270.0153680638698,
136
+ 200.2410024450229,
137
+ -7.060603580575341
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.5707963267948966
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1270.0153680638698,
149
+ 197.2410024450229,
150
+ -7.060603580575341
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.5707963267948966
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1270.0153680638698,
162
+ 194.2410024450229,
163
+ -7.060603580575341
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1270.0153680638698,
175
+ 191.2410024450229,
176
+ -7.060603580575341
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1270.0153680638698,
188
+ 188.2410024450229,
189
+ -7.060603580575341
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1270.0153680638698,
201
+ 185.2410024450229,
202
+ -7.060603580575341
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1270.0153680638698,
214
+ 182.2410024450229,
215
+ -7.060603580575341
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1270.0153680638698,
227
+ 179.2410024450229,
228
+ -7.060603580575341
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1270.0153680638698,
240
+ 176.2410024450229,
241
+ -7.060603580575341
242
+ ],
243
+ "type": "stop",
244
+ "value": 0,
245
+ "yaw": -1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "aim_landmark": {
250
+ "color": "test",
251
+ "feature": "test",
252
+ "position": [
253
+ 1269.6296508789064,
254
+ 175.0053077697754,
255
+ 0.0
256
+ ],
257
+ "shape": "test",
258
+ "size": "test",
259
+ "type": "building"
260
+ }
261
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-27-26_1001089438/pose.jsonl ADDED
@@ -0,0 +1,248 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -323.4672518851416,
6
+ -216.60306104689448,
7
+ -5.074296577010228
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.5235987755982988
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -320.8691756737883,
19
+ -215.10306104689448,
20
+ -5.074296577010228
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.5235987755982988
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -318.27109946243496,
32
+ -213.60306104689448,
33
+ -5.074296577010228
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.5235987755982988
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -315.67302325108164,
45
+ -212.10306104689448,
46
+ -5.074296577010228
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.5235987755982988
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -313.07494703972833,
58
+ -210.60306104689448,
59
+ -5.074296577010228
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.5235987755982988
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -310.476870828375,
71
+ -209.10306104689448,
72
+ -5.074296577010228
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.5235987755982988
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -307.8787946170217,
84
+ -207.60306104689448,
85
+ -5.074296577010228
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.5235987755982988
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -305.2807184056684,
97
+ -206.10306104689448,
98
+ -5.074296577010228
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.5235987755982988
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -302.68264219431506,
110
+ -204.60306104689448,
111
+ -5.074296577010228
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 0.5235987755982988
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -300.08456598296175,
123
+ -203.10306104689448,
124
+ -5.074296577010228
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.5235987755982988
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -297.48648977160843,
136
+ -201.60306104689448,
137
+ -5.074296577010228
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 0.5235987755982988
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -294.8884135602551,
149
+ -200.10306104689448,
150
+ -5.074296577010228
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 0.5235987755982988
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -292.2903373489018,
162
+ -198.60306104689448,
163
+ -5.074296577010228
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 0.5235987755982988
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -289.6922611375485,
175
+ -197.10306104689448,
176
+ -5.074296577010228
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 0.5235987755982988
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -287.09418492619517,
188
+ -195.60306104689448,
189
+ -5.074296577010228
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 0.5235987755982988
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -284.49610871484185,
201
+ -194.10306104689448,
202
+ -5.074296577010228
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 0.5235987755982988
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -281.89803250348854,
214
+ -192.60306104689448,
215
+ -5.074296577010228
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 0.5235987755982988
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -279.2999562921352,
227
+ -191.10306104689448,
228
+ -5.074296577010228
229
+ ],
230
+ "type": "stop",
231
+ "value": 0,
232
+ "yaw": 0.5235987755982988
233
+ }
234
+ }
235
+ {
236
+ "aim_landmark": {
237
+ "color": "test",
238
+ "feature": "test",
239
+ "position": [
240
+ -277.72470836639405,
241
+ -188.3509792327881,
242
+ 0.0
243
+ ],
244
+ "shape": "test",
245
+ "size": "test",
246
+ "type": "building"
247
+ }
248
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-27-44_2077211388/pose.jsonl ADDED
@@ -0,0 +1,326 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 61.36751315404941,
6
+ -489.63479535805544,
7
+ -3.0161856068445134
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.6179938779914944
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 58.769436942696096,
19
+ -488.13479535805544,
20
+ -3.0161856068445134
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.6179938779914944
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 56.17136073134278,
32
+ -486.63479535805544,
33
+ -3.0161856068445134
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.6179938779914944
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 53.573284519989464,
45
+ -485.13479535805544,
46
+ -3.0161856068445134
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.6179938779914944
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 50.97520830863615,
58
+ -483.63479535805544,
59
+ -3.0161856068445134
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.6179938779914944
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 48.37713209728283,
71
+ -482.13479535805544,
72
+ -3.0161856068445134
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.6179938779914944
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 45.779055885929516,
84
+ -480.63479535805544,
85
+ -3.0161856068445134
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.6179938779914944
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 43.1809796745762,
97
+ -479.13479535805544,
98
+ -3.0161856068445134
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.6179938779914944
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 40.582903463222884,
110
+ -477.63479535805544,
111
+ -3.0161856068445134
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.6179938779914944
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 37.98482725186957,
123
+ -476.13479535805544,
124
+ -3.0161856068445134
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.6179938779914944
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 35.38675104051625,
136
+ -474.63479535805544,
137
+ -3.0161856068445134
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.6179938779914944
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 32.788674829162936,
149
+ -473.13479535805544,
150
+ -3.0161856068445134
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 2.6179938779914944
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 30.19059861780962,
162
+ -471.63479535805544,
163
+ -3.0161856068445134
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 2.6179938779914944
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 27.592522406456304,
175
+ -470.13479535805544,
176
+ -3.0161856068445134
177
+ ],
178
+ "type": "turn left",
179
+ "value": 30,
180
+ "yaw": 2.6179938779914944
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 27.592522406456304,
188
+ -470.13479535805544,
189
+ -3.0161856068445134
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 3.141592653589793
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 24.592522406456304,
201
+ -470.13479535805544,
202
+ -3.0161856068445134
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 3.141592653589793
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 21.592522406456304,
214
+ -470.13479535805544,
215
+ -3.0161856068445134
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 3.141592653589793
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 18.592522406456304,
227
+ -470.13479535805544,
228
+ -3.0161856068445134
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 3.141592653589793
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 15.592522406456304,
240
+ -470.13479535805544,
241
+ -3.0161856068445134
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 3.141592653589793
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 12.592522406456304,
253
+ -470.13479535805544,
254
+ -3.0161856068445134
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 3.141592653589793
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 9.592522406456304,
266
+ -470.13479535805544,
267
+ -3.0161856068445134
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 3.141592653589793
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 6.592522406456304,
279
+ -470.13479535805544,
280
+ -3.0161856068445134
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 3.141592653589793
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 3.592522406456304,
292
+ -470.13479535805544,
293
+ -3.0161856068445134
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 3.141592653589793
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 0.5925224064563039,
305
+ -470.13479535805544,
306
+ -3.0161856068445134
307
+ ],
308
+ "type": "stop",
309
+ "value": 0,
310
+ "yaw": 3.141592653589793
311
+ }
312
+ }
313
+ {
314
+ "aim_landmark": {
315
+ "color": "test",
316
+ "feature": "test",
317
+ "position": [
318
+ -3.1689678192138673,
319
+ -469.5184967041016,
320
+ 0.0
321
+ ],
322
+ "shape": "test",
323
+ "size": "test",
324
+ "type": "building"
325
+ }
326
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-29-45_864101839/pose.jsonl ADDED
@@ -0,0 +1,378 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1630.2557508280713,
6
+ -79.4106644373657,
7
+ -1.7578534436305375
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1628.7557508280713,
19
+ -82.00874064871901,
20
+ -1.7578534436305375
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1627.2557508280713,
32
+ -84.60681686007233,
33
+ -1.7578534436305375
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1625.7557508280713,
45
+ -87.20489307142564,
46
+ -1.7578534436305375
47
+ ],
48
+ "type": "turn right",
49
+ "value": 30,
50
+ "yaw": -2.0943951023931953
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1625.7557508280713,
58
+ -87.20489307142564,
59
+ -1.7578534436305375
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.617993877991494
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1623.157674616718,
71
+ -88.70489307142564,
72
+ -1.7578534436305375
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.6179938779915037
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1620.5595984053646,
84
+ -90.20489307142564,
85
+ -1.7578534436305375
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.6179938779915037
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1617.9615221940112,
97
+ -91.70489307142564,
98
+ -1.7578534436305375
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.6179938779915037
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1615.3634459826578,
110
+ -93.20489307142564,
111
+ -1.7578534436305375
112
+ ],
113
+ "type": "turn right",
114
+ "value": 30,
115
+ "yaw": -2.6179938779915037
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1615.3634459826578,
123
+ -93.20489307142564,
124
+ -1.7578534436305375
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -3.1415926535898024
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1612.3634459826578,
136
+ -93.20489307142564,
137
+ -1.7578534436305375
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 3.141592653589793
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1609.3634459826578,
149
+ -93.20489307142564,
150
+ -1.7578534436305375
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 3.141592653589793
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1606.3634459826578,
162
+ -93.20489307142564,
163
+ -1.7578534436305375
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 3.141592653589793
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1603.3634459826578,
175
+ -93.20489307142564,
176
+ -1.7578534436305375
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 3.141592653589793
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1600.3634459826578,
188
+ -93.20489307142564,
189
+ -1.7578534436305375
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 3.141592653589793
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1597.3634459826578,
201
+ -93.20489307142564,
202
+ -1.7578534436305375
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 3.141592653589793
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1594.3634459826578,
214
+ -93.20489307142564,
215
+ -1.7578534436305375
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 3.141592653589793
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1591.3634459826578,
227
+ -93.20489307142564,
228
+ -1.7578534436305375
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 3.141592653589793
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1588.3634459826578,
240
+ -93.20489307142564,
241
+ -1.7578534436305375
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 3.141592653589793
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 1585.3634459826578,
253
+ -93.20489307142564,
254
+ -1.7578534436305375
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 3.141592653589793
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 1582.3634459826578,
266
+ -93.20489307142564,
267
+ -1.7578534436305375
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 3.141592653589793
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 1579.3634459826578,
279
+ -93.20489307142564,
280
+ -1.7578534436305375
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 3.141592653589793
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 1576.3634459826578,
292
+ -93.20489307142564,
293
+ -1.7578534436305375
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 3.141592653589793
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 1573.3634459826578,
305
+ -93.20489307142564,
306
+ -1.7578534436305375
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 3.141592653589793
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 1570.3634459826578,
318
+ -93.20489307142564,
319
+ -1.7578534436305375
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 3.141592653589793
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 1567.3634459826578,
331
+ -93.20489307142564,
332
+ -1.7578534436305375
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 3.141592653589793
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ 1564.3634459826578,
344
+ -93.20489307142564,
345
+ -1.7578534436305375
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": 3.141592653589793
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ 1561.3634459826578,
357
+ -93.20489307142564,
358
+ -1.7578534436305375
359
+ ],
360
+ "type": "stop",
361
+ "value": 0,
362
+ "yaw": 3.141592653589793
363
+ }
364
+ }
365
+ {
366
+ "aim_landmark": {
367
+ "color": "test",
368
+ "feature": "test",
369
+ "position": [
370
+ 1559.5110931396484,
371
+ -96.07600393295289,
372
+ 0.0
373
+ ],
374
+ "shape": "test",
375
+ "size": "test",
376
+ "type": "building"
377
+ }
378
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-3-19_1543755629/pose.jsonl ADDED
@@ -0,0 +1,326 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 406.28773184067353,
6
+ -343.089128669539,
7
+ -1.4989007211545466
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.5707963267948966
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 406.28773184067353,
19
+ -346.089128669539,
20
+ -1.4989007211545466
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.5707963267948966
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 406.28773184067353,
32
+ -349.089128669539,
33
+ -1.4989007211545466
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.5707963267948966
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 406.28773184067353,
45
+ -352.089128669539,
46
+ -1.4989007211545466
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.5707963267948966
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 406.28773184067353,
58
+ -355.089128669539,
59
+ -1.4989007211545466
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.5707963267948966
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 406.28773184067353,
71
+ -358.089128669539,
72
+ -1.4989007211545466
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.5707963267948966
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 406.28773184067353,
84
+ -361.089128669539,
85
+ -1.4989007211545466
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.5707963267948966
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 406.28773184067353,
97
+ -364.089128669539,
98
+ -1.4989007211545466
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.5707963267948966
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 406.28773184067353,
110
+ -367.089128669539,
111
+ -1.4989007211545466
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.5707963267948966
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 406.28773184067353,
123
+ -370.089128669539,
124
+ -1.4989007211545466
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.5707963267948966
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 406.28773184067353,
136
+ -373.089128669539,
137
+ -1.4989007211545466
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.5707963267948966
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 406.28773184067353,
149
+ -376.089128669539,
150
+ -1.4989007211545466
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.5707963267948966
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 406.28773184067353,
162
+ -379.089128669539,
163
+ -1.4989007211545466
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 406.28773184067353,
175
+ -382.089128669539,
176
+ -1.4989007211545466
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 406.28773184067353,
188
+ -385.089128669539,
189
+ -1.4989007211545466
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 406.28773184067353,
201
+ -388.089128669539,
202
+ -1.4989007211545466
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 406.28773184067353,
214
+ -391.089128669539,
215
+ -1.4989007211545466
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 406.28773184067353,
227
+ -394.089128669539,
228
+ -1.4989007211545466
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 406.28773184067353,
240
+ -397.089128669539,
241
+ -1.4989007211545466
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 406.28773184067353,
253
+ -400.089128669539,
254
+ -1.4989007211545466
255
+ ],
256
+ "type": "turn left",
257
+ "value": 30,
258
+ "yaw": -1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 406.28773184067353,
266
+ -400.089128669539,
267
+ -1.4989007211545466
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -1.0471975511965979
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 407.78773184067353,
279
+ -402.6872048808923,
280
+ -1.4989007211545466
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -1.0471975511965979
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 409.28773184067353,
292
+ -405.2852810922456,
293
+ -1.4989007211545466
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -1.0471975511965979
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 410.78773184067353,
305
+ -407.8833573035989,
306
+ -1.4989007211545466
307
+ ],
308
+ "type": "stop",
309
+ "value": 0,
310
+ "yaw": -1.0471975511965979
311
+ }
312
+ }
313
+ {
314
+ "aim_landmark": {
315
+ "color": "test",
316
+ "feature": "test",
317
+ "position": [
318
+ 410.6194187164307,
319
+ -422.415909576416,
320
+ 0.0
321
+ ],
322
+ "shape": "test",
323
+ "size": "test",
324
+ "type": "building"
325
+ }
326
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-33-5_1388391521/pose.jsonl ADDED
@@ -0,0 +1,352 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1326.8841865946517,
6
+ -153.35863482470623,
7
+ -8.296404877907554
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1329.8841865946517,
19
+ -153.35863482470623,
20
+ -8.296404877907554
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1332.8841865946517,
32
+ -153.35863482470623,
33
+ -8.296404877907554
34
+ ],
35
+ "type": "turn right",
36
+ "value": 30,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1332.8841865946517,
45
+ -153.35863482470623,
46
+ -8.296404877907554
47
+ ],
48
+ "type": "turn right",
49
+ "value": 30,
50
+ "yaw": -0.5235987755982988
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1332.8841865946517,
58
+ -153.35863482470623,
59
+ -8.296404877907554
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.0471975511965976
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1334.3841865946517,
71
+ -155.95671103605954,
72
+ -8.296404877907554
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1335.8841865946517,
84
+ -158.55478724741286,
85
+ -8.296404877907554
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1337.3841865946517,
97
+ -161.15286345876618,
98
+ -8.296404877907554
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1338.8841865946517,
110
+ -163.7509396701195,
111
+ -8.296404877907554
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1340.3841865946517,
123
+ -166.3490158814728,
124
+ -8.296404877907554
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1341.8841865946517,
136
+ -168.94709209282613,
137
+ -8.296404877907554
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1343.3841865946517,
149
+ -171.54516830417944,
150
+ -8.296404877907554
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1344.8841865946517,
162
+ -174.14324451553276,
163
+ -8.296404877907554
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.0471975511965979
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1346.3841865946517,
175
+ -176.74132072688607,
176
+ -8.296404877907554
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.0471975511965979
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1347.8841865946517,
188
+ -179.3393969382394,
189
+ -8.296404877907554
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.0471975511965979
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1349.3841865946517,
201
+ -181.9374731495927,
202
+ -8.296404877907554
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.0471975511965979
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1350.8841865946517,
214
+ -184.53554936094602,
215
+ -8.296404877907554
216
+ ],
217
+ "type": "turn left",
218
+ "value": 30,
219
+ "yaw": -1.0471975511965979
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1350.8841865946517,
227
+ -184.53554936094602,
228
+ -8.296404877907554
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -0.523598775598299
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1353.482262806005,
240
+ -186.03554936094602,
241
+ -8.296404877907554
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -0.5235987755982894
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 1356.0803390173585,
253
+ -187.53554936094602,
254
+ -8.296404877907554
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -0.5235987755982894
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 1358.6784152287119,
266
+ -189.03554936094602,
267
+ -8.296404877907554
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -0.5235987755982894
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 1361.2764914400652,
279
+ -190.53554936094602,
280
+ -8.296404877907554
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -0.5235987755982894
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 1363.8745676514186,
292
+ -192.03554936094602,
293
+ -8.296404877907554
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -0.5235987755982894
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 1366.472643862772,
305
+ -193.53554936094602,
306
+ -8.296404877907554
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -0.5235987755982894
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 1369.0707200741253,
318
+ -195.03554936094602,
319
+ -8.296404877907554
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -0.5235987755982894
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 1371.6687962854787,
331
+ -196.53554936094602,
332
+ -8.296404877907554
333
+ ],
334
+ "type": "stop",
335
+ "value": 0,
336
+ "yaw": -0.5235987755982894
337
+ }
338
+ }
339
+ {
340
+ "aim_landmark": {
341
+ "color": "test",
342
+ "feature": "test",
343
+ "position": [
344
+ 1374.3149368286133,
345
+ -198.07321910858155,
346
+ 0.0
347
+ ],
348
+ "shape": "test",
349
+ "size": "test",
350
+ "type": "building"
351
+ }
352
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-34-15_1204462951/pose.jsonl ADDED
@@ -0,0 +1,365 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1304.631486263442,
6
+ -157.40772585629037,
7
+ -3.3340375339986386
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1306.131486263442,
19
+ -160.00580206764369,
20
+ -3.3340375339986386
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1307.631486263442,
32
+ -162.603878278997,
33
+ -3.3340375339986386
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1309.131486263442,
45
+ -165.20195449035032,
46
+ -3.3340375339986386
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1310.631486263442,
58
+ -167.80003070170363,
59
+ -3.3340375339986386
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1312.131486263442,
71
+ -170.39810691305695,
72
+ -3.3340375339986386
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1313.631486263442,
84
+ -172.99618312441027,
85
+ -3.3340375339986386
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1315.131486263442,
97
+ -175.59425933576358,
98
+ -3.3340375339986386
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1316.631486263442,
110
+ -178.1923355471169,
111
+ -3.3340375339986386
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1318.131486263442,
123
+ -180.7904117584702,
124
+ -3.3340375339986386
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1319.631486263442,
136
+ -183.38848796982353,
137
+ -3.3340375339986386
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1321.131486263442,
149
+ -185.98656418117685,
150
+ -3.3340375339986386
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1322.631486263442,
162
+ -188.58464039253016,
163
+ -3.3340375339986386
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.0471975511965979
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1324.131486263442,
175
+ -191.18271660388348,
176
+ -3.3340375339986386
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.0471975511965979
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1325.631486263442,
188
+ -193.7807928152368,
189
+ -3.3340375339986386
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.0471975511965979
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1327.131486263442,
201
+ -196.3788690265901,
202
+ -3.3340375339986386
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.0471975511965979
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1328.631486263442,
214
+ -198.97694523794343,
215
+ -3.3340375339986386
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.0471975511965979
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1330.131486263442,
227
+ -201.57502144929674,
228
+ -3.3340375339986386
229
+ ],
230
+ "type": "turn right",
231
+ "value": 30,
232
+ "yaw": -1.0471975511965979
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1330.131486263442,
240
+ -201.57502144929674,
241
+ -3.3340375339986386
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 1330.131486263442,
253
+ -204.57502144929674,
254
+ -3.3340375339986386
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 1330.131486263442,
266
+ -207.57502144929674,
267
+ -3.3340375339986386
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 1330.131486263442,
279
+ -210.57502144929674,
280
+ -3.3340375339986386
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -1.5707963267948966
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 1330.131486263442,
292
+ -213.57502144929674,
293
+ -3.3340375339986386
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -1.5707963267948966
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 1330.131486263442,
305
+ -216.57502144929674,
306
+ -3.3340375339986386
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -1.5707963267948966
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 1330.131486263442,
318
+ -219.57502144929674,
319
+ -3.3340375339986386
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -1.5707963267948966
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 1330.131486263442,
331
+ -222.57502144929674,
332
+ -3.3340375339986386
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": -1.5707963267948966
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ 1330.131486263442,
344
+ -225.57502144929674,
345
+ -3.3340375339986386
346
+ ],
347
+ "type": "stop",
348
+ "value": 0,
349
+ "yaw": -1.5707963267948966
350
+ }
351
+ }
352
+ {
353
+ "aim_landmark": {
354
+ "color": "test",
355
+ "feature": "test",
356
+ "position": [
357
+ 1332.318264770508,
358
+ -228.70366058349612,
359
+ 0.0
360
+ ],
361
+ "shape": "test",
362
+ "size": "test",
363
+ "type": "building"
364
+ }
365
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-40-26_395279207/pose.jsonl ADDED
@@ -0,0 +1,261 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1398.7652653588127,
6
+ -28.912011434966935,
7
+ -2.709060905693084
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.5235987755982894
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1401.363341570166,
19
+ -27.412011434966935,
20
+ -2.709060905693084
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.5235987755982894
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1403.9614177815195,
32
+ -25.912011434966935,
33
+ -2.709060905693084
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.5235987755982894
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1406.5594939928728,
45
+ -24.412011434966935,
46
+ -2.709060905693084
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.5235987755982894
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1409.1575702042262,
58
+ -22.912011434966935,
59
+ -2.709060905693084
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.5235987755982894
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1411.7556464155796,
71
+ -21.412011434966935,
72
+ -2.709060905693084
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.5235987755982894
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1414.353722626933,
84
+ -19.912011434966935,
85
+ -2.709060905693084
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.5235987755982894
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1416.9517988382863,
97
+ -18.412011434966935,
98
+ -2.709060905693084
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.5235987755982894
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1419.5498750496397,
110
+ -16.912011434966935,
111
+ -2.709060905693084
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 0.5235987755982894
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1422.147951260993,
123
+ -15.412011434966935,
124
+ -2.709060905693084
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.5235987755982894
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1424.7460274723464,
136
+ -13.912011434966935,
137
+ -2.709060905693084
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 0.5235987755982894
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1427.3441036836998,
149
+ -12.412011434966935,
150
+ -2.709060905693084
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 0.5235987755982894
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1429.9421798950532,
162
+ -10.912011434966935,
163
+ -2.709060905693084
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 0.5235987755982894
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1432.5402561064066,
175
+ -9.412011434966935,
176
+ -2.709060905693084
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 0.5235987755982894
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1435.13833231776,
188
+ -7.912011434966935,
189
+ -2.709060905693084
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 0.5235987755982894
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1437.7364085291133,
201
+ -6.412011434966935,
202
+ -2.709060905693084
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 0.5235987755982894
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1440.3344847404667,
214
+ -4.912011434966935,
215
+ -2.709060905693084
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 0.5235987755982894
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1442.93256095182,
227
+ -3.412011434966935,
228
+ -2.709060905693084
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 0.5235987755982894
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1445.5306371631734,
240
+ -1.9120114349669353,
241
+ -2.709060905693084
242
+ ],
243
+ "type": "stop",
244
+ "value": 0,
245
+ "yaw": 0.5235987755982894
246
+ }
247
+ }
248
+ {
249
+ "aim_landmark": {
250
+ "color": "test",
251
+ "feature": "test",
252
+ "position": [
253
+ 1448.3586029052735,
254
+ -0.4004184722900391,
255
+ 0.0
256
+ ],
257
+ "shape": "test",
258
+ "size": "test",
259
+ "type": "building"
260
+ }
261
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-48-1_1124311574/pose.jsonl ADDED
@@ -0,0 +1,261 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -58.700651905542216,
6
+ -311.9510875004421,
7
+ -8.543994748405538
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -57.200651905542216,
19
+ -314.5491637117954,
20
+ -8.543994748405538
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -55.700651905542216,
32
+ -317.14723992314873,
33
+ -8.543994748405538
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -54.200651905542216,
45
+ -319.74531613450205,
46
+ -8.543994748405538
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -52.700651905542216,
58
+ -322.34339234585536,
59
+ -8.543994748405538
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -51.200651905542216,
71
+ -324.9414685572087,
72
+ -8.543994748405538
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -49.700651905542216,
84
+ -327.539544768562,
85
+ -8.543994748405538
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -48.200651905542216,
97
+ -330.1376209799153,
98
+ -8.543994748405538
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -46.700651905542216,
110
+ -332.7356971912686,
111
+ -8.543994748405538
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -45.200651905542216,
123
+ -335.33377340262194,
124
+ -8.543994748405538
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -43.700651905542216,
136
+ -337.93184961397526,
137
+ -8.543994748405538
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -42.200651905542216,
149
+ -340.5299258253286,
150
+ -8.543994748405538
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -40.700651905542216,
162
+ -343.1280020366819,
163
+ -8.543994748405538
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.0471975511965979
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -39.200651905542216,
175
+ -345.7260782480352,
176
+ -8.543994748405538
177
+ ],
178
+ "type": "turn right",
179
+ "value": 30,
180
+ "yaw": -1.0471975511965979
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -39.200651905542216,
188
+ -345.7260782480352,
189
+ -8.543994748405538
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -39.200651905542216,
201
+ -348.7260782480352,
202
+ -8.543994748405538
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -39.200651905542216,
214
+ -351.7260782480352,
215
+ -8.543994748405538
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -39.200651905542216,
227
+ -354.7260782480352,
228
+ -8.543994748405538
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -39.200651905542216,
240
+ -357.7260782480352,
241
+ -8.543994748405538
242
+ ],
243
+ "type": "stop",
244
+ "value": 0,
245
+ "yaw": -1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "aim_landmark": {
250
+ "color": "test",
251
+ "feature": "test",
252
+ "position": [
253
+ -37.04707775115967,
254
+ -360.1783214569092,
255
+ 0.0
256
+ ],
257
+ "shape": "test",
258
+ "size": "test",
259
+ "type": "building"
260
+ }
261
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-51-35_639806732/pose.jsonl ADDED
@@ -0,0 +1,274 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1321.6774042176592,
6
+ 187.47113281514595,
7
+ -2.3141159208888773
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 3.141592653589793
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1318.6774042176592,
19
+ 187.47113281514595,
20
+ -2.3141159208888773
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 3.141592653589793
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1315.6774042176592,
32
+ 187.47113281514595,
33
+ -2.3141159208888773
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 3.141592653589793
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1312.6774042176592,
45
+ 187.47113281514595,
46
+ -2.3141159208888773
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 3.141592653589793
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1309.6774042176592,
58
+ 187.47113281514595,
59
+ -2.3141159208888773
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 3.141592653589793
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1306.6774042176592,
71
+ 187.47113281514595,
72
+ -2.3141159208888773
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 3.141592653589793
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1303.6774042176592,
84
+ 187.47113281514595,
85
+ -2.3141159208888773
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 3.141592653589793
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1300.6774042176592,
97
+ 187.47113281514595,
98
+ -2.3141159208888773
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 3.141592653589793
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1297.6774042176592,
110
+ 187.47113281514595,
111
+ -2.3141159208888773
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 3.141592653589793
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1294.6774042176592,
123
+ 187.47113281514595,
124
+ -2.3141159208888773
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 3.141592653589793
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1291.6774042176592,
136
+ 187.47113281514595,
137
+ -2.3141159208888773
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 3.141592653589793
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1288.6774042176592,
149
+ 187.47113281514595,
150
+ -2.3141159208888773
151
+ ],
152
+ "type": "turn left",
153
+ "value": 30,
154
+ "yaw": 3.141592653589793
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1288.6774042176592,
162
+ 187.47113281514595,
163
+ -2.3141159208888773
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 3.665191429188092
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1286.0793280063058,
175
+ 185.97113281514595,
176
+ -2.3141159208888773
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.6179938779915037
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1283.4812517949524,
188
+ 184.47113281514595,
189
+ -2.3141159208888773
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.6179938779915037
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1280.883175583599,
201
+ 182.97113281514595,
202
+ -2.3141159208888773
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.6179938779915037
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1278.2850993722457,
214
+ 181.47113281514595,
215
+ -2.3141159208888773
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -2.6179938779915037
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1275.6870231608923,
227
+ 179.97113281514595,
228
+ -2.3141159208888773
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -2.6179938779915037
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1273.088946949539,
240
+ 178.47113281514595,
241
+ -2.3141159208888773
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -2.6179938779915037
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 1270.4908707381855,
253
+ 176.97113281514595,
254
+ -2.3141159208888773
255
+ ],
256
+ "type": "stop",
257
+ "value": 0,
258
+ "yaw": -2.6179938779915037
259
+ }
260
+ }
261
+ {
262
+ "aim_landmark": {
263
+ "color": "test",
264
+ "feature": "test",
265
+ "position": [
266
+ 1269.6296508789064,
267
+ 175.0053077697754,
268
+ 0.0
269
+ ],
270
+ "shape": "test",
271
+ "size": "test",
272
+ "type": "building"
273
+ }
274
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-1-27_34740865/pose.jsonl ADDED
@@ -0,0 +1,352 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1279.846012752348,
6
+ 247.4040266510053,
7
+ -3.21996154549292
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.5707963267948966
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1279.846012752348,
19
+ 244.4040266510053,
20
+ -3.21996154549292
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.5707963267948966
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1279.846012752348,
32
+ 241.4040266510053,
33
+ -3.21996154549292
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.5707963267948966
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1279.846012752348,
45
+ 238.4040266510053,
46
+ -3.21996154549292
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.5707963267948966
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1279.846012752348,
58
+ 235.4040266510053,
59
+ -3.21996154549292
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.5707963267948966
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1279.846012752348,
71
+ 232.4040266510053,
72
+ -3.21996154549292
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.5707963267948966
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1279.846012752348,
84
+ 229.4040266510053,
85
+ -3.21996154549292
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.5707963267948966
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1279.846012752348,
97
+ 226.4040266510053,
98
+ -3.21996154549292
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.5707963267948966
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1279.846012752348,
110
+ 223.4040266510053,
111
+ -3.21996154549292
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.5707963267948966
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1279.846012752348,
123
+ 220.4040266510053,
124
+ -3.21996154549292
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.5707963267948966
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1279.846012752348,
136
+ 217.4040266510053,
137
+ -3.21996154549292
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.5707963267948966
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1279.846012752348,
149
+ 214.4040266510053,
150
+ -3.21996154549292
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.5707963267948966
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1279.846012752348,
162
+ 211.4040266510053,
163
+ -3.21996154549292
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1279.846012752348,
175
+ 208.4040266510053,
176
+ -3.21996154549292
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1279.846012752348,
188
+ 205.4040266510053,
189
+ -3.21996154549292
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1279.846012752348,
201
+ 202.4040266510053,
202
+ -3.21996154549292
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1279.846012752348,
214
+ 199.4040266510053,
215
+ -3.21996154549292
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1279.846012752348,
227
+ 196.4040266510053,
228
+ -3.21996154549292
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1279.846012752348,
240
+ 193.4040266510053,
241
+ -3.21996154549292
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 1279.846012752348,
253
+ 190.4040266510053,
254
+ -3.21996154549292
255
+ ],
256
+ "type": "turn right",
257
+ "value": 30,
258
+ "yaw": -1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 1279.846012752348,
266
+ 190.4040266510053,
267
+ -3.21996154549292
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -2.0943951023931953
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 1278.346012752348,
279
+ 187.80595043965198,
280
+ -3.21996154549292
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -2.0943951023931953
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 1276.846012752348,
292
+ 185.20787422829866,
293
+ -3.21996154549292
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -2.0943951023931953
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 1275.346012752348,
305
+ 182.60979801694535,
306
+ -3.21996154549292
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -2.0943951023931953
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 1273.846012752348,
318
+ 180.01172180559203,
319
+ -3.21996154549292
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -2.0943951023931953
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 1272.346012752348,
331
+ 177.41364559423872,
332
+ -3.21996154549292
333
+ ],
334
+ "type": "stop",
335
+ "value": 0,
336
+ "yaw": -2.0943951023931953
337
+ }
338
+ }
339
+ {
340
+ "aim_landmark": {
341
+ "color": "test",
342
+ "feature": "test",
343
+ "position": [
344
+ 1269.6296508789064,
345
+ 175.0053077697754,
346
+ 0.0
347
+ ],
348
+ "shape": "test",
349
+ "size": "test",
350
+ "type": "building"
351
+ }
352
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-10-7_356684278/pose.jsonl ADDED
@@ -0,0 +1,326 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 812.9789861132672,
6
+ -501.38912242125207,
7
+ -6.8925096611441194
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 811.4789861132672,
19
+ -498.79104620989875,
20
+ -6.8925096611441194
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 809.9789861132672,
32
+ -496.19296999854544,
33
+ -6.8925096611441194
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 808.4789861132672,
45
+ -493.5948937871921,
46
+ -6.8925096611441194
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.0943951023931953
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 806.9789861132672,
58
+ -490.9968175758388,
59
+ -6.8925096611441194
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.0943951023931953
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 805.4789861132672,
71
+ -488.3987413644855,
72
+ -6.8925096611441194
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.0943951023931953
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 803.9789861132672,
84
+ -485.8006651531322,
85
+ -6.8925096611441194
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.0943951023931953
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 802.4789861132672,
97
+ -483.20258894177886,
98
+ -6.8925096611441194
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.0943951023931953
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 800.9789861132672,
110
+ -480.60451273042554,
111
+ -6.8925096611441194
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.0943951023931953
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 799.4789861132672,
123
+ -478.0064365190722,
124
+ -6.8925096611441194
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.0943951023931953
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 797.9789861132672,
136
+ -475.4083603077189,
137
+ -6.8925096611441194
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.0943951023931953
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 796.4789861132672,
149
+ -472.8102840963656,
150
+ -6.8925096611441194
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 2.0943951023931953
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 794.9789861132672,
162
+ -470.2122078850123,
163
+ -6.8925096611441194
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 2.0943951023931953
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 793.4789861132672,
175
+ -467.61413167365896,
176
+ -6.8925096611441194
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 2.0943951023931953
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 791.9789861132672,
188
+ -465.01605546230564,
189
+ -6.8925096611441194
190
+ ],
191
+ "type": "turn left",
192
+ "value": 30,
193
+ "yaw": 2.0943951023931953
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 791.9789861132672,
201
+ -465.01605546230564,
202
+ -6.8925096611441194
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 2.617993877991494
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 789.3809099019138,
214
+ -463.51605546230564,
215
+ -6.8925096611441194
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 2.6179938779915037
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 786.7828336905604,
227
+ -462.01605546230564,
228
+ -6.8925096611441194
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 2.6179938779915037
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 784.1847574792071,
240
+ -460.51605546230564,
241
+ -6.8925096611441194
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 2.6179938779915037
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 781.5866812678537,
253
+ -459.01605546230564,
254
+ -6.8925096611441194
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 2.6179938779915037
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 778.9886050565003,
266
+ -457.51605546230564,
267
+ -6.8925096611441194
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 2.6179938779915037
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 776.390528845147,
279
+ -456.01605546230564,
280
+ -6.8925096611441194
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 2.6179938779915037
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 773.7924526337936,
292
+ -454.51605546230564,
293
+ -6.8925096611441194
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 2.6179938779915037
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 771.1943764224402,
305
+ -453.01605546230564,
306
+ -6.8925096611441194
307
+ ],
308
+ "type": "stop",
309
+ "value": 0,
310
+ "yaw": 2.6179938779915037
311
+ }
312
+ }
313
+ {
314
+ "aim_landmark": {
315
+ "color": "test",
316
+ "feature": "test",
317
+ "position": [
318
+ 770.3367736816407,
319
+ -451.65129089355474,
320
+ 0.0
321
+ ],
322
+ "shape": "test",
323
+ "size": "test",
324
+ "type": "building"
325
+ }
326
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-12-34_217927335/pose.jsonl ADDED
@@ -0,0 +1,339 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 254.17221287117232,
6
+ 219.54706586862085,
7
+ -3.646698507018181
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 257.1722128711723,
19
+ 219.54706586862085,
20
+ -3.646698507018181
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 260.1722128711723,
32
+ 219.54706586862085,
33
+ -3.646698507018181
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 263.1722128711723,
45
+ 219.54706586862085,
46
+ -3.646698507018181
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 266.1722128711723,
58
+ 219.54706586862085,
59
+ -3.646698507018181
60
+ ],
61
+ "type": "turn left",
62
+ "value": 30,
63
+ "yaw": 0.0
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 266.1722128711723,
71
+ 219.54706586862085,
72
+ -3.646698507018181
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.5235987755982988
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 268.7702890825256,
84
+ 221.04706586862085,
85
+ -3.646698507018181
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.5235987755982988
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 271.3683652938789,
97
+ 222.54706586862085,
98
+ -3.646698507018181
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.5235987755982988
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 273.96644150523224,
110
+ 224.04706586862085,
111
+ -3.646698507018181
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 0.5235987755982988
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 276.56451771658556,
123
+ 225.54706586862085,
124
+ -3.646698507018181
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.5235987755982988
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 279.1625939279389,
136
+ 227.04706586862085,
137
+ -3.646698507018181
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 0.5235987755982988
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 281.7606701392922,
149
+ 228.54706586862085,
150
+ -3.646698507018181
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 0.5235987755982988
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 284.3587463506455,
162
+ 230.04706586862085,
163
+ -3.646698507018181
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 0.5235987755982988
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 286.9568225619988,
175
+ 231.54706586862085,
176
+ -3.646698507018181
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 0.5235987755982988
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 289.55489877335214,
188
+ 233.04706586862085,
189
+ -3.646698507018181
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 0.5235987755982988
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 292.15297498470545,
201
+ 234.54706586862085,
202
+ -3.646698507018181
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 0.5235987755982988
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 294.75105119605877,
214
+ 236.04706586862085,
215
+ -3.646698507018181
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 0.5235987755982988
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 297.3491274074121,
227
+ 237.54706586862085,
228
+ -3.646698507018181
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 0.5235987755982988
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 299.9472036187654,
240
+ 239.04706586862085,
241
+ -3.646698507018181
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 0.5235987755982988
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 302.5452798301187,
253
+ 240.54706586862085,
254
+ -3.646698507018181
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 0.5235987755982988
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 305.14335604147203,
266
+ 242.04706586862085,
267
+ -3.646698507018181
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 0.5235987755982988
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 307.74143225282535,
279
+ 243.54706586862085,
280
+ -3.646698507018181
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 0.5235987755982988
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 310.33950846417866,
292
+ 245.04706586862085,
293
+ -3.646698507018181
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 0.5235987755982988
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 312.937584675532,
305
+ 246.54706586862085,
306
+ -3.646698507018181
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 0.5235987755982988
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 315.5356608868853,
318
+ 248.04706586862085,
319
+ -3.646698507018181
320
+ ],
321
+ "type": "stop",
322
+ "value": 0,
323
+ "yaw": 0.5235987755982988
324
+ }
325
+ }
326
+ {
327
+ "aim_landmark": {
328
+ "color": "test",
329
+ "feature": "test",
330
+ "position": [
331
+ 317.568487739563,
332
+ 250.2678318023682,
333
+ 0.0
334
+ ],
335
+ "shape": "test",
336
+ "size": "test",
337
+ "type": "building"
338
+ }
339
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-19-32_1105816539/pose.jsonl ADDED
@@ -0,0 +1,326 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 475.748389031444,
6
+ -638.662439877557,
7
+ -7.00671864539095
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.094395102393205
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 474.248389031444,
19
+ -636.0643636662037,
20
+ -7.00671864539095
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.094395102393205
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 472.748389031444,
32
+ -633.4662874548503,
33
+ -7.00671864539095
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.094395102393186
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 471.248389031444,
45
+ -630.868211243497,
46
+ -7.00671864539095
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.094395102393186
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 469.748389031444,
58
+ -628.2701350321436,
59
+ -7.00671864539095
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.094395102393186
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 468.248389031444,
71
+ -625.6720588207902,
72
+ -7.00671864539095
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.094395102393186
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 466.748389031444,
84
+ -623.0739826094368,
85
+ -7.00671864539095
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.094395102393186
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 465.248389031444,
97
+ -620.4759063980835,
98
+ -7.00671864539095
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.094395102393186
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 463.748389031444,
110
+ -617.8778301867301,
111
+ -7.00671864539095
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.094395102393186
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 462.248389031444,
123
+ -615.2797539753767,
124
+ -7.00671864539095
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.094395102393186
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 460.748389031444,
136
+ -612.6816777640233,
137
+ -7.00671864539095
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.094395102393186
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 459.248389031444,
149
+ -610.08360155267,
150
+ -7.00671864539095
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 2.094395102393186
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 457.748389031444,
162
+ -607.4855253413166,
163
+ -7.00671864539095
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 2.094395102393186
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 456.248389031444,
175
+ -604.8874491299632,
176
+ -7.00671864539095
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 2.094395102393186
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 454.748389031444,
188
+ -602.2893729186098,
189
+ -7.00671864539095
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 2.094395102393186
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 453.248389031444,
201
+ -599.6912967072565,
202
+ -7.00671864539095
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 2.094395102393186
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 451.748389031444,
214
+ -597.0932204959031,
215
+ -7.00671864539095
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 2.094395102393186
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 450.248389031444,
227
+ -594.4951442845497,
228
+ -7.00671864539095
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 2.094395102393186
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 448.748389031444,
240
+ -591.8970680731964,
241
+ -7.00671864539095
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 2.094395102393186
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 447.248389031444,
253
+ -589.298991861843,
254
+ -7.00671864539095
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 2.094395102393186
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 445.748389031444,
266
+ -586.7009156504896,
267
+ -7.00671864539095
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 2.094395102393186
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 444.248389031444,
279
+ -584.1028394391362,
280
+ -7.00671864539095
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 2.094395102393186
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 442.748389031444,
292
+ -581.5047632277829,
293
+ -7.00671864539095
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 2.094395102393186
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 441.248389031444,
305
+ -578.9066870164295,
306
+ -7.00671864539095
307
+ ],
308
+ "type": "stop",
309
+ "value": 0,
310
+ "yaw": 2.094395102393186
311
+ }
312
+ }
313
+ {
314
+ "aim_landmark": {
315
+ "color": "test",
316
+ "feature": "test",
317
+ "position": [
318
+ 437.9839408874512,
319
+ -578.2894577026368,
320
+ 0.0
321
+ ],
322
+ "shape": "test",
323
+ "size": "test",
324
+ "type": "building"
325
+ }
326
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-27-58_2006138722/pose.jsonl ADDED
@@ -0,0 +1,391 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 210.49960109989945,
6
+ -562.0253907917023,
7
+ -6.920435507873029
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.0471975511965883
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 211.99960109989945,
19
+ -564.6234670030556,
20
+ -6.920435507873029
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.0471975511965883
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 213.49960109989945,
32
+ -567.2215432144089,
33
+ -6.920435507873029
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.0471975511966072
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 214.99960109989945,
45
+ -569.8196194257623,
46
+ -6.920435507873029
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.0471975511966072
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 216.49960109989945,
58
+ -572.4176956371157,
59
+ -6.920435507873029
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.0471975511966072
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 217.99960109989945,
71
+ -575.0157718484691,
72
+ -6.920435507873029
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.0471975511966072
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 219.49960109989945,
84
+ -577.6138480598224,
85
+ -6.920435507873029
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.0471975511966072
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 220.99960109989945,
97
+ -580.2119242711758,
98
+ -6.920435507873029
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.0471975511966072
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 222.49960109989945,
110
+ -582.8100004825292,
111
+ -6.920435507873029
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.0471975511966072
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 223.99960109989945,
123
+ -585.4080766938825,
124
+ -6.920435507873029
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.0471975511966072
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 225.49960109989945,
136
+ -588.0061529052359,
137
+ -6.920435507873029
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.0471975511966072
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 226.99960109989945,
149
+ -590.6042291165893,
150
+ -6.920435507873029
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.0471975511966072
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 228.49960109989945,
162
+ -593.2023053279427,
163
+ -6.920435507873029
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.0471975511966072
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 229.99960109989945,
175
+ -595.800381539296,
176
+ -6.920435507873029
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.0471975511966072
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 231.49960109989945,
188
+ -598.3984577506494,
189
+ -6.920435507873029
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.0471975511966072
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 232.99960109989945,
201
+ -600.9965339620028,
202
+ -6.920435507873029
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.0471975511966072
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 234.49960109989945,
214
+ -603.5946101733562,
215
+ -6.920435507873029
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.0471975511966072
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 235.99960109989945,
227
+ -606.1926863847095,
228
+ -6.920435507873029
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.0471975511966072
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 237.49960109989945,
240
+ -608.7907625960629,
241
+ -6.920435507873029
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.0471975511966072
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 238.99960109989945,
253
+ -611.3888388074163,
254
+ -6.920435507873029
255
+ ],
256
+ "type": "turn right",
257
+ "value": 30,
258
+ "yaw": -1.0471975511966072
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 238.99960109989945,
266
+ -611.3888388074163,
267
+ -6.920435507873029
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -1.5707963267949059
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 238.99960109989945,
279
+ -614.3888388074163,
280
+ -6.920435507873029
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -1.5707963267948966
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 238.99960109989945,
292
+ -617.3888388074163,
293
+ -6.920435507873029
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -1.5707963267948966
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 238.99960109989945,
305
+ -620.3888388074163,
306
+ -6.920435507873029
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -1.5707963267948966
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 238.99960109989945,
318
+ -623.3888388074163,
319
+ -6.920435507873029
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -1.5707963267948966
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 238.99960109989945,
331
+ -626.3888388074163,
332
+ -6.920435507873029
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": -1.5707963267948966
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ 238.99960109989945,
344
+ -629.3888388074163,
345
+ -6.920435507873029
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": -1.5707963267948966
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ 238.99960109989945,
357
+ -632.3888388074163,
358
+ -6.920435507873029
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": -1.5707963267948966
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ 238.99960109989945,
370
+ -635.3888388074163,
371
+ -6.920435507873029
372
+ ],
373
+ "type": "stop",
374
+ "value": 0,
375
+ "yaw": -1.5707963267948966
376
+ }
377
+ }
378
+ {
379
+ "aim_landmark": {
380
+ "color": "test",
381
+ "feature": "test",
382
+ "position": [
383
+ 237.59388580322266,
384
+ -636.861552810669,
385
+ 0.0
386
+ ],
387
+ "shape": "test",
388
+ "size": "test",
389
+ "type": "building"
390
+ }
391
+ }