diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-01-19_07-30-30_767875/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-01-19_07-30-30_767875/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6cdd1b5d74dda203bee857c1ccb3de0dc4151fa3 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-01-19_07-30-30_767875/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -164.93767158115247, + -201.7302667166291, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -163.43767158115247, + -199.1321905052758, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -161.93767158115247, + -196.53411429392247, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -160.43767158115247, + -193.93603808256915, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -158.93767158115247, + -191.33796187121584, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -157.43767158115247, + -188.73988565986252, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -155.93767158115247, + -186.1418094485092, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -154.43767158115247, + -183.5437332371559, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -152.93767158115247, + -180.94565702580257, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -151.43767158115247, + -178.34758081444926, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -149.93767158115247, + -175.74950460309594, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -148.43767158115247, + -173.15142839174263, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -146.93767158115247, + -170.5533521803893, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -145.43767158115247, + -167.955275969036, + 45.08563280908995 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -145.43767158115247, + -167.955275969036, + 48.08563280908995 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -145.43767158115247, + -167.955275969036, + 51.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -145.43767158115247, + -167.955275969036, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -142.83959536979916, + -166.455275969036, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -140.24151915844584, + -164.955275969036, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -137.64344294709252, + -163.455275969036, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -135.0453667357392, + -161.955275969036, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -132.4472905243859, + -160.455275969036, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -129.84921431303258, + -158.955275969036, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -127.25113810167926, + -157.455275969036, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -124.65306189032594, + -155.955275969036, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -122.05498567897263, + -154.455275969036, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -119.45690946761931, + -152.955275969036, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -116.858833256266, + -151.455275969036, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -114.26075704491268, + -149.955275969036, + 51.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -114.26075704491268, + -149.955275969036, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -112.76075704491268, + -147.35719975768268, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -111.26075704491268, + -144.75912354632936, + 51.08563280908995 + ], + "type": "go down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -111.26075704491268, + -144.75912354632936, + 48.08563280908995 + ], + "type": "go down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -111.26075704491268, + -144.75912354632936, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -100.0, + -136.0, + 43.732 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-01-19_07-32-51_823899/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-01-19_07-32-51_823899/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7196f5107451982dd81df1ea2a44e43299796a6a --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-01-19_07-32-51_823899/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1136.5815988512784, + 8.947569200878348, + 45.08563280908995 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1136.5815988512784, + 8.947569200878348, + 48.08563280908995 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1136.5815988512784, + 8.947569200878348, + 51.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1136.5815988512784, + 8.947569200878348, + 51.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1136.5815988512784, + 8.947569200878348, + 51.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1136.5815988512784, + 8.947569200878348, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1136.5815988512784, + 5.947569200878348, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1136.5815988512784, + 2.9475692008783483, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1136.5815988512784, + -0.05243079912165172, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1136.5815988512784, + -3.0524307991216517, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1136.5815988512784, + -6.052430799121652, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1136.5815988512784, + -9.052430799121652, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1136.5815988512784, + -12.052430799121652, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1136.5815988512784, + -15.052430799121652, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1136.5815988512784, + -18.05243079912165, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1136.5815988512784, + -21.05243079912165, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1136.5815988512784, + -24.05243079912165, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1136.5815988512784, + -27.05243079912165, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1136.5815988512784, + -30.05243079912165, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1136.5815988512784, + -33.05243079912165, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1136.5815988512784, + -36.05243079912165, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1136.5815988512784, + -39.05243079912165, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1136.5815988512784, + -42.05243079912165, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1136.5815988512784, + -45.05243079912165, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1136.5815988512784, + -48.05243079912165, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1136.5815988512784, + -51.05243079912165, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1136.5815988512784, + -54.05243079912165, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1136.5815988512784, + -57.05243079912165, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1136.5815988512784, + -60.05243079912165, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1136.5815988512784, + -63.05243079912165, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1136.5815988512784, + -66.05243079912165, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1136.5815988512784, + -69.05243079912165, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1136.5815988512784, + -72.05243079912165, + 51.08563280908995 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1136.5815988512784, + -72.05243079912165, + 48.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1136.5815988512784, + -72.05243079912165, + 48.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1135.0815988512784, + -74.65050701047497, + 48.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1133.5815988512784, + -77.24858322182828, + 48.08563280908995 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1133.5815988512784, + -77.24858322182828, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1132.0, + -88.0, + 42.0581 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-01-19_07-36-49_280519/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-01-19_07-36-49_280519/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..48e8ab73375ca2d00bbd5528dacf373b47a9eb55 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-01-19_07-36-49_280519/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1093.8552880876068, + -162.01565391096926, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1093.8552880876068, + -159.01565391096926, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1093.8552880876068, + -156.01565391096926, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1093.8552880876068, + -153.01565391096926, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1093.8552880876068, + -150.01565391096926, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1093.8552880876068, + -147.01565391096926, + 45.08563280908995 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1093.8552880876068, + -147.01565391096926, + 48.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1093.8552880876068, + -147.01565391096926, + 48.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1092.3552880876068, + -144.41757769961595, + 48.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1090.8552880876068, + -141.81950148826263, + 48.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1089.3552880876068, + -139.22142527690932, + 48.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1087.8552880876068, + -136.623349065556, + 48.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1086.3552880876068, + -134.02527285420268, + 48.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1084.8552880876068, + -131.42719664284937, + 48.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1083.3552880876068, + -128.82912043149605, + 48.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1081.8552880876068, + -126.23104422014273, + 48.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1081.8552880876068, + -126.23104422014273, + 48.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1081.8552880876068, + -123.23104422014273, + 48.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1081.8552880876068, + -120.23104422014273, + 48.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1081.8552880876068, + -117.23104422014273, + 48.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1081.8552880876068, + -114.23104422014273, + 48.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1081.8552880876068, + -111.23104422014273, + 48.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1081.8552880876068, + -108.23104422014273, + 48.08563280908995 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1081.8552880876068, + -108.23104422014273, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1076.0, + -84.0, + 46.329 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-01-19_07-47-30_51294/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-01-19_07-47-30_51294/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..84bef5473fb0a93b7fc54f9edb61cd3711ae4edb --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-01-19_07-47-30_51294/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1112.1334499219158, + -359.5436124420463, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1109.5353737105625, + -361.0436124420463, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1109.5353737105625, + -361.0436124420463, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1108.0353737105625, + -363.6416886533996, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1106.5353737105625, + -366.23976486475294, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1105.0353737105625, + -368.83784107610626, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1103.5353737105625, + -371.4359172874596, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1102.0353737105625, + -374.0339934988129, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1100.5353737105625, + -376.6320697101662, + 45.08563280908995 + ], + "type": "go up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1100.5353737105625, + -376.6320697101662, + 48.08563280908995 + ], + "type": "go up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1100.5353737105625, + -376.6320697101662, + 51.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1100.5353737105625, + -376.6320697101662, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1097.937297499209, + -378.1320697101662, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1095.3392212878557, + -379.6320697101662, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1092.7411450765023, + -381.1320697101662, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1090.143068865149, + -382.6320697101662, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1087.5449926537956, + -384.1320697101662, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1084.9469164424422, + -385.6320697101662, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1082.3488402310888, + -387.1320697101662, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1079.7507640197355, + -388.6320697101662, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1077.152687808382, + -390.1320697101662, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1074.5546115970287, + -391.6320697101662, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1071.9565353856754, + -393.1320697101662, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1069.358459174322, + -394.6320697101662, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1066.7603829629686, + -396.1320697101662, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1064.1623067516152, + -397.6320697101662, + 51.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1061.5642305402619, + -399.1320697101662, + 51.08563280908995 + ], + "type": "go down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1061.5642305402619, + -399.1320697101662, + 48.08563280908995 + ], + "type": "go down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1061.5642305402619, + -399.1320697101662, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1061.5642305402619, + -399.1320697101662, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1058.5642305402619, + -399.1320697101662, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1044.0, + -408.0, + 62.9925 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-6_16-30-27_1714636915/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-6_16-30-27_1714636915/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..826ff3be6fb46e0de6237d8e3e78585d8308fe3b --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-6_16-30-27_1714636915/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -779.0351973334693, + 126.98991066104513, + 48.036559568243845 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -780.5351973334693, + 124.39183444969181, + 48.036559568243845 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -782.0351973334693, + 121.7937582383385, + 48.036559568243845 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -783.5351973334693, + 119.19568202698518, + 48.036559568243845 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -785.0351973334693, + 116.59760581563187, + 48.036559568243845 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -786.5351973334693, + 113.99952960427855, + 48.036559568243845 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -788.0351973334693, + 111.40145339292523, + 48.036559568243845 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -789.5351973334693, + 108.80337718157192, + 48.036559568243845 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -791.0351973334693, + 106.2053009702186, + 48.036559568243845 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -792.5351973334693, + 103.60722475886529, + 48.036559568243845 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -794.0351973334693, + 101.00914854751197, + 48.036559568243845 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -795.5351973334693, + 98.41107233615865, + 48.036559568243845 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -797.0351973334693, + 95.81299612480534, + 48.036559568243845 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -798.5351973334693, + 93.21491991345202, + 48.036559568243845 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -800.0351973334693, + 90.6168437020987, + 48.036559568243845 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -801.5351973334693, + 88.01876749074539, + 48.036559568243845 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -803.0351973334693, + 85.42069127939207, + 48.036559568243845 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -804.5351973334693, + 82.82261506803876, + 48.036559568243845 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -812.0, + 68.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-6_16-34-25_304089172/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-6_16-34-25_304089172/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..97e45690de5e8b72d81ead58074308af807adbe6 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-6_16-34-25_304089172/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1103.724818379367, + -460.63866353064617, + 56.18776502286021 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1102.224818379367, + -463.2367397419995, + 56.18776502286021 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1100.724818379367, + -465.8348159533528, + 56.18776502286021 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1099.224818379367, + -468.4328921647061, + 56.18776502286021 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1097.724818379367, + -471.03096837605943, + 56.18776502286021 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1096.224818379367, + -473.62904458741275, + 56.18776502286021 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1094.724818379367, + -476.22712079876607, + 56.18776502286021 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1093.224818379367, + -478.8251970101194, + 56.18776502286021 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1091.724818379367, + -481.4232732214727, + 56.18776502286021 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1090.224818379367, + -484.021349432826, + 56.18776502286021 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1088.724818379367, + -486.61942564417933, + 56.18776502286021 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1087.224818379367, + -489.21750185553265, + 56.18776502286021 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1085.724818379367, + -491.81557806688596, + 56.18776502286021 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1084.224818379367, + -494.4136542782393, + 56.18776502286021 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1082.724818379367, + -497.0117304895926, + 56.18776502286021 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1081.224818379367, + -499.6098067009459, + 56.18776502286021 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1079.724818379367, + -502.2078829122992, + 56.18776502286021 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1078.224818379367, + -504.80595912365254, + 56.18776502286021 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1076.724818379367, + -507.40403533500586, + 56.18776502286021 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1076.724818379367, + -507.40403533500586, + 56.18776502286021 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1074.1267421680136, + -508.90403533500586, + 56.18776502286021 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1071.5286659566602, + -510.40403533500586, + 56.18776502286021 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1068.9305897453069, + -511.90403533500586, + 56.18776502286021 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1066.3325135339535, + -513.4040353350058, + 56.18776502286021 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598273 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1063.7344373226001, + -514.9040353350058, + 56.18776502286021 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1061.1363611112467, + -516.4040353350058, + 56.18776502286021 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1058.5382848998934, + -517.9040353350058, + 56.18776502286021 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1048.0, + -528.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-6_16-34-42_1303455736/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-6_16-34-42_1303455736/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..614a0cf90da67c6600fc1a949618d3d9d241c3f0 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-6_16-34-42_1303455736/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -830.8136853166004, + -9.959329428313623, + 37.87001155029127 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -833.4117615279538, + -8.459329428313623, + 37.87001155029127 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -836.0098377393072, + -6.959329428313623, + 37.87001155029127 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -838.6079139506605, + -5.459329428313623, + 37.87001155029127 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -841.2059901620139, + -3.959329428313623, + 37.87001155029127 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -843.8040663733673, + -2.459329428313623, + 37.87001155029127 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -846.4021425847207, + -0.9593294283136233, + 37.87001155029127 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -849.000218796074, + 0.5406705716863764, + 37.87001155029127 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -851.5982950074274, + 2.040670571686376, + 37.87001155029127 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991504 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -854.1963712187808, + 3.540670571686376, + 37.87001155029127 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -856.7944474301341, + 5.040670571686376, + 37.87001155029127 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -859.3925236414875, + 6.540670571686376, + 37.87001155029127 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -861.9905998528409, + 8.040670571686375, + 37.87001155029127 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991504 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -864.5886760641943, + 9.540670571686375, + 37.87001155029127 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -867.1867522755476, + 11.040670571686375, + 37.87001155029127 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -867.1867522755476, + 11.040670571686375, + 37.87001155029127 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -868.6867522755476, + 13.638746783039691, + 37.87001155029127 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -870.1867522755476, + 16.23682299439301, + 37.87001155029127 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -888.0, + 32.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-6_16-35-23_294702567/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-6_16-35-23_294702567/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..229a354e667dd914e95a83362040103dccfa41c3 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-6_16-35-23_294702567/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1187.636580098565, + -46.68259607466079, + 33.1924468723721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1185.0385038872116, + -45.18259607466079, + 33.1924468723721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1182.4404276758582, + -43.68259607466079, + 33.1924468723721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1179.8423514645049, + -42.18259607466079, + 33.1924468723721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1177.2442752531515, + -40.68259607466079, + 33.1924468723721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1174.6461990417981, + -39.18259607466079, + 33.1924468723721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1172.0481228304448, + -37.68259607466079, + 33.1924468723721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1169.4500466190914, + -36.18259607466079, + 33.1924468723721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1166.851970407738, + -34.68259607466079, + 33.1924468723721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1164.2538941963846, + -33.18259607466079, + 33.1924468723721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1161.6558179850313, + -31.682596074660793, + 33.1924468723721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1159.057741773678, + -30.182596074660793, + 33.1924468723721 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1159.057741773678, + -30.182596074660793, + 33.1924468723721 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1157.557741773678, + -27.584519863307477, + 33.1924468723721 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1156.057741773678, + -24.98644365195416, + 33.1924468723721 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1154.557741773678, + -22.388367440600845, + 33.1924468723721 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1153.057741773678, + -19.79029122924753, + 33.1924468723721 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1151.557741773678, + -17.192215017894213, + 33.1924468723721 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1132.0, + 0.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-21-35_1350490027/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-21-35_1350490027/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..beafe42af0bbd583dac7ee6289af04557aa3ad27 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-21-35_1350490027/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1104.2203688751324, + -467.634762866318, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1102.7203688751324, + -470.2328390776713, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1101.2203688751324, + -472.83091528902463, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1099.7203688751324, + -475.42899150037795, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1098.2203688751324, + -478.02706771173126, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1096.7203688751324, + -480.6251439230846, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1095.2203688751324, + -483.2232201344379, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1093.7203688751324, + -485.8212963457912, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1092.2203688751324, + -488.4193725571445, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1090.7203688751324, + -491.01744876849784, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1089.2203688751324, + -493.61552497985116, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1087.7203688751324, + -496.2136011912045, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1086.2203688751324, + -498.8116774025578, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1084.7203688751324, + -501.4097536139111, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1084.7203688751324, + -501.4097536139111, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1082.122292663779, + -502.9097536139111, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1079.5242164524257, + -504.4097536139111, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1076.9261402410723, + -505.9097536139111, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1074.328064029719, + -507.4097536139111, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1071.7299878183655, + -508.9097536139111, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1069.1319116070122, + -510.4097536139111, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1066.5338353956588, + -511.9097536139111, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1063.9357591843054, + -513.4097536139111, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1061.337682972952, + -514.9097536139111, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1058.7396067615987, + -516.4097536139111, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1048.0, + -528.0, + 115.738 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-27-27_1125898167/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-27-27_1125898167/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a8e81453eff8b38e4425035e67404e258a51929e --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-27-27_1125898167/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 259.9968712652067, + -111.03609095345575, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 259.9968712652067, + -108.03609095345575, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 259.9968712652067, + -105.03609095345575, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 259.9968712652067, + -102.03609095345575, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 259.9968712652067, + -99.03609095345575, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 259.9968712652067, + -96.03609095345575, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 259.9968712652067, + -93.03609095345575, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 259.9968712652067, + -90.03609095345575, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 259.9968712652067, + -87.03609095345575, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 259.9968712652067, + -84.03609095345575, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 259.9968712652067, + -81.03609095345575, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 259.9968712652067, + -81.03609095345575, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 261.4968712652067, + -78.43801474210244, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 268.0, + -36.0, + 45.9813 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-31-25_184803526/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-31-25_184803526/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b730661e57ab3928b211a76b18b55986d57ee268 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-31-25_184803526/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -971.010404109096, + -62.96482779688171, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -968.010404109096, + -62.96482779688171, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -965.010404109096, + -62.96482779688171, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -962.010404109096, + -62.96482779688171, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -959.010404109096, + -62.96482779688171, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -956.010404109096, + -62.96482779688171, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -953.010404109096, + -62.96482779688171, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -950.010404109096, + -62.96482779688171, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -947.010404109096, + -62.96482779688171, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -944.010404109096, + -62.96482779688171, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -941.010404109096, + -62.96482779688171, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -938.010404109096, + -62.96482779688171, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -935.010404109096, + -62.96482779688171, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -932.010404109096, + -62.96482779688171, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -932.010404109096, + -62.96482779688171, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -932.010404109096, + -62.96482779688171, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -930.510404109096, + -60.36675158552839, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -929.010404109096, + -57.768675374175075, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -927.510404109096, + -55.17059916282176, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -926.010404109096, + -52.57252295146844, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -924.510404109096, + -49.97444674011513, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -924.510404109096, + -49.97444674011513, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -921.9123278977427, + -48.47444674011513, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -919.3142516863893, + -46.97444674011513, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -916.7161754750359, + -45.47444674011513, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -914.1180992636826, + -43.97444674011513, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -911.5200230523292, + -42.47444674011513, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -908.9219468409758, + -40.97444674011513, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -906.3238706296224, + -39.47444674011513, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -880.0, + -32.0, + 45.9813 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-34-26_1827336327/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-34-26_1827336327/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..de009f052c251e6f93794fc46009b593bfa0f6d2 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-34-26_1827336327/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1191.8756474125473, + -182.20583706941477, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1191.8756474125473, + -185.20583706941477, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1191.8756474125473, + -188.20583706941477, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1191.8756474125473, + -191.20583706941477, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1191.8756474125473, + -194.20583706941477, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1191.8756474125473, + -197.20583706941477, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1191.8756474125473, + -200.20583706941477, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1191.8756474125473, + -203.20583706941477, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1191.8756474125473, + -206.20583706941477, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1191.8756474125473, + -209.20583706941477, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1191.8756474125473, + -212.20583706941477, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1191.8756474125473, + -215.20583706941477, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1191.8756474125473, + -218.20583706941477, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1196.0, + -272.0, + 34.4509 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-35-17_1632621729/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-35-17_1632621729/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..30eb01a240d01117854ba0d1f26cb21aaa2f872a --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-35-17_1632621729/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1115.0278798350507, + -429.0964181807815, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1112.0278798350507, + -429.0964181807815, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1109.0278798350507, + -429.0964181807815, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1106.0278798350507, + -429.0964181807815, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1103.0278798350507, + -429.0964181807815, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1100.0278798350507, + -429.0964181807815, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1097.0278798350507, + -429.0964181807815, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1094.0278798350507, + -429.0964181807815, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1091.0278798350507, + -429.0964181807815, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1088.0278798350507, + -429.0964181807815, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1085.0278798350507, + -429.0964181807815, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1082.0278798350507, + -429.0964181807815, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1079.0278798350507, + -429.0964181807815, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1076.0278798350507, + -429.0964181807815, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1076.0278798350507, + -429.0964181807815, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1073.4298036236974, + -427.5964181807815, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1070.831727412344, + -426.0964181807815, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1068.2336512009906, + -424.5964181807815, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1068.2336512009906, + -424.5964181807815, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1066.7336512009906, + -421.99834196942817, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1065.2336512009906, + -419.40026575807485, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1063.7336512009906, + -416.80218954672154, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1062.2336512009906, + -414.2041133353682, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1044.0, + -408.0, + 62.9925 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-38-37_356426808/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-38-37_356426808/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8f1e52ba2280f59b6e28bf7af8f991bd308b0817 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-38-37_356426808/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -691.3853016955725, + 90.03375177389066, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -694.3853016955725, + 90.03375177389066, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -697.3853016955725, + 90.03375177389066, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -700.3853016955725, + 90.03375177389066, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -703.3853016955725, + 90.03375177389066, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -706.3853016955725, + 90.03375177389066, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -709.3853016955725, + 90.03375177389066, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -712.3853016955725, + 90.03375177389066, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -715.3853016955725, + 90.03375177389066, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -718.3853016955725, + 90.03375177389066, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -718.3853016955725, + 90.03375177389066, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -720.9833779069259, + 88.53375177389066, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -723.5814541182792, + 87.03375177389066, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -726.1795303296326, + 85.53375177389066, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -728.777606540986, + 84.03375177389066, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -731.3756827523393, + 82.53375177389066, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -733.9737589636927, + 81.03375177389066, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -736.5718351750461, + 79.53375177389066, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -739.1699113863995, + 78.03375177389066, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -764.0, + 72.0, + 43.7495 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-40-23_752392754/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-40-23_752392754/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..33b63313aa50ff9f0571a4717f5534243e36d55e --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-40-23_752392754/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -138.38727825549796, + -567.3551786210859, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -138.38727825549796, + -570.3551786210859, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -138.38727825549796, + -573.3551786210859, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -138.38727825549796, + -576.3551786210859, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -138.38727825549796, + -576.3551786210859, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -138.38727825549796, + -576.3551786210859, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -135.78920204414464, + -577.8551786210859, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -133.19112583279133, + -579.3551786210859, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -130.593049621438, + -580.8551786210859, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -127.9949734100847, + -582.3551786210859, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -125.39689719873138, + -583.8551786210859, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -122.79882098737806, + -585.3551786210859, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -120.20074477602475, + -586.8551786210859, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -117.60266856467143, + -588.3551786210859, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -115.00459235331812, + -589.8551786210859, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -112.4065161419648, + -591.3551786210859, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -109.80843993061148, + -592.8551786210859, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -107.21036371925817, + -594.3551786210859, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -104.61228750790485, + -595.8551786210859, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -102.01421129655154, + -597.3551786210859, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -99.41613508519822, + -598.8551786210859, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -99.41613508519822, + -598.8551786210859, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -96.41613508519822, + -598.8551786210859, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -93.41613508519822, + -598.8551786210859, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -90.41613508519822, + -598.8551786210859, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -60.0, + -620.0, + 63.6064 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-41-7_1264095060/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-41-7_1264095060/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e1cf82d0565b22c51c177f4c449ea94e948d9021 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-41-7_1264095060/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1047.9701036184504, + -104.2211556153903, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1046.4701036184504, + -101.62307940403699, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1044.9701036184504, + -99.02500319268367, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1043.4701036184504, + -96.42692698133035, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1041.9701036184504, + -93.82885076997704, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1040.4701036184504, + -91.23077455862372, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1038.9701036184504, + -88.6326983472704, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1037.4701036184504, + -86.03462213591709, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1035.9701036184504, + -83.43654592456377, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1034.4701036184504, + -80.83846971321046, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1032.9701036184504, + -78.24039350185714, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1031.4701036184504, + -75.64231729050383, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1029.9701036184504, + -73.04424107915051, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1028.4701036184504, + -70.4461648677972, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1026.9701036184504, + -67.84808865644388, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1025.4701036184504, + -65.25001244509056, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1023.9701036184504, + -62.651936233737246, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1022.4701036184504, + -60.05386002238393, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1020.9701036184504, + -57.455783811030614, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1004.0, + -20.0, + 45.9813 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-42-22_855636226/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-42-22_855636226/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..653be4f9fae3f406616c51d36a4214571ed7daf5 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-42-22_855636226/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -713.5260078568381, + -332.6171925977852, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -715.0260078568381, + -330.0191163864319, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -716.5260078568381, + -327.4210401750786, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -718.0260078568381, + -324.8229639637253, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -719.5260078568381, + -322.22488775237196, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -721.0260078568381, + -319.62681154101864, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -722.5260078568381, + -317.0287353296653, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -724.0260078568381, + -314.430659118312, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -724.0260078568381, + -314.430659118312, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -726.6240840681915, + -312.930659118312, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -729.2221602795448, + -311.430659118312, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -731.8202364908982, + -309.930659118312, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -734.4183127022516, + -308.430659118312, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -737.0163889136049, + -306.930659118312, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -737.0163889136049, + -306.930659118312, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -738.5163889136049, + -304.3325829069587, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -740.0163889136049, + -301.7345066956054, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -760.0, + -280.0, + 80.3059 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-47-6_593209441/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-47-6_593209441/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6237e93ad835797d06bc2e887fb6c40597d7fb42 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-47-6_593209441/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -935.066266482008, + -278.53245244857703, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -932.4681902706548, + -280.03245244857703, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -932.4681902706548, + -280.03245244857703, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -930.9681902706548, + -282.63052865993035, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -929.4681902706548, + -285.22860487128366, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -927.9681902706548, + -287.826681082637, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -926.4681902706548, + -290.4247572939903, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -924.9681902706548, + -293.0228335053436, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -923.4681902706548, + -295.62090971669693, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -923.4681902706548, + -295.62090971669693, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -923.4681902706548, + -295.62090971669693, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -920.4681902706548, + -295.62090971669693, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -917.4681902706548, + -295.62090971669693, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -914.4681902706548, + -295.62090971669693, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -911.4681902706548, + -295.62090971669693, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -908.4681902706548, + -295.62090971669693, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -905.4681902706548, + -295.62090971669693, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -902.4681902706548, + -295.62090971669693, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -899.4681902706548, + -295.62090971669693, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -896.4681902706548, + -295.62090971669693, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -893.4681902706548, + -295.62090971669693, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -890.4681902706548, + -295.62090971669693, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -890.4681902706548, + -295.62090971669693, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -890.4681902706548, + -295.62090971669693, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -888.9681902706548, + -293.0228335053436, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -887.4681902706548, + -290.4247572939903, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -885.9681902706548, + -287.826681082637, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -884.4681902706548, + -285.22860487128366, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -882.9681902706548, + -282.63052865993035, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -881.4681902706548, + -280.03245244857703, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -879.9681902706548, + -277.4343762372237, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -879.9681902706548, + -277.4343762372237, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -877.3701140593014, + -275.9343762372237, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -874.772037847948, + -274.4343762372237, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -868.0, + -272.0, + 35.879 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-48-10_1947346619/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-48-10_1947346619/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..677a7c9235627acdb756dc680c142fa8cd3f0fab --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-48-10_1947346619/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 195.84948907890563, + -129.73580893167605, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 193.25141286755232, + -128.23580893167605, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 190.653336656199, + -126.73580893167605, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 190.653336656199, + -126.73580893167605, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 187.653336656199, + -126.73580893167605, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 184.653336656199, + -126.73580893167605, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 181.653336656199, + -126.73580893167605, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 178.653336656199, + -126.73580893167605, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 175.653336656199, + -126.73580893167605, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 172.653336656199, + -126.73580893167605, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 169.653336656199, + -126.73580893167605, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 166.653336656199, + -126.73580893167605, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 163.653336656199, + -126.73580893167605, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 163.653336656199, + -126.73580893167605, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 163.653336656199, + -126.73580893167605, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 162.153336656199, + -124.13773272032273, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 160.653336656199, + -121.53965650896941, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 159.153336656199, + -118.9415802976161, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 157.653336656199, + -116.34350408626278, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 156.153336656199, + -113.74542787490947, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 154.653336656199, + -111.14735166355615, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 124.0, + -96.0, + 31.1527 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-10-15_1351797369/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-10-15_1351797369/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..77e8f6958093264d4e4c081d0170257043d0a55d --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-10-15_1351797369/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -957.8687901865309, + -506.0624684981164, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -954.8687901865309, + -506.0624684981164, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -951.8687901865309, + -506.0624684981164, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -948.8687901865309, + -506.0624684981164, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -945.8687901865309, + -506.0624684981164, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -942.8687901865309, + -506.0624684981164, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -939.8687901865309, + -506.0624684981164, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -936.8687901865309, + -506.0624684981164, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -933.8687901865309, + -506.0624684981164, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -930.8687901865309, + -506.0624684981164, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -927.8687901865309, + -506.0624684981164, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -872.0, + -512.0, + 73.4077 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-16-32_502278611/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-16-32_502278611/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7b66cd3800f492a24ad6421e4073e0b835c75a98 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-16-32_502278611/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -954.342912267355, + -154.83872118725805, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -955.842912267355, + -152.24064497590473, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -957.342912267355, + -149.6425687645514, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -958.842912267355, + -147.0444925531981, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -960.342912267355, + -144.44641634184478, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -961.842912267355, + -141.84834013049147, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -961.842912267355, + -141.84834013049147, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -964.4409884787083, + -140.34834013049147, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -967.0390646900617, + -138.84834013049147, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991485 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -996.0, + -108.0, + 73.4265 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-19-28_1369321801/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-19-28_1369321801/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8f9b1f58a941478c66d9d1324620b47630d62e5c --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-19-28_1369321801/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1062.613486001856, + -432.6490171568128, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1059.613486001856, + -432.6490171568128, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1056.613486001856, + -432.6490171568128, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1053.613486001856, + -432.6490171568128, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1050.613486001856, + -432.6490171568128, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1047.613486001856, + -432.6490171568128, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1044.613486001856, + -432.6490171568128, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1041.613486001856, + -432.6490171568128, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1038.613486001856, + -432.6490171568128, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1035.613486001856, + -432.6490171568128, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1032.613486001856, + -432.6490171568128, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1029.613486001856, + -432.6490171568128, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1026.613486001856, + -432.6490171568128, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1023.613486001856, + -432.6490171568128, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1020.613486001856, + -432.6490171568128, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -996.0, + -436.0, + 38.8111 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-21-53_1470503465/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-21-53_1470503465/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dba6f7347f0dad2e4e68cd0dab5f26d3b1174a03 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-21-53_1470503465/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -698.7894539585059, + -293.25137659595214, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -701.3875301698592, + -294.75137659595214, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -703.9856063812126, + -296.25137659595214, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -706.583682592566, + -297.75137659595214, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -709.1817588039194, + -299.25137659595214, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -711.7798350152727, + -300.75137659595214, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -714.3779112266261, + -302.25137659595214, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -716.9759874379795, + -303.75137659595214, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -719.5740636493329, + -305.25137659595214, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -722.1721398606862, + -306.75137659595214, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -724.7702160720396, + -308.25137659595214, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -727.368292283393, + -309.75137659595214, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -729.9663684947463, + -311.25137659595214, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -732.5644447060997, + -312.75137659595214, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -735.1625209174531, + -314.25137659595214, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -737.7605971288065, + -315.75137659595214, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -740.3586733401598, + -317.25137659595214, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -784.0, + -344.0, + 33.629 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-31-45_1943327684/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-31-45_1943327684/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..33e64a7e1610ff7add013ae973bce7f1e0035351 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-31-45_1943327684/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -967.8621041530495, + -499.4217787295464, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -964.8621041530495, + -499.4217787295464, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -961.8621041530495, + -499.4217787295464, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -958.8621041530495, + -499.4217787295464, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -955.8621041530495, + -499.4217787295464, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -952.8621041530495, + -499.4217787295464, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -949.8621041530495, + -499.4217787295464, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -946.8621041530495, + -499.4217787295464, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -943.8621041530495, + -499.4217787295464, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -940.8621041530495, + -499.4217787295464, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -937.8621041530495, + -499.4217787295464, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -934.8621041530495, + -499.4217787295464, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -934.8621041530495, + -499.4217787295464, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -932.2640279416962, + -500.9217787295464, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -929.6659517303428, + -502.4217787295464, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -927.0678755189895, + -503.9217787295464, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -872.0, + -512.0, + 73.4077 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-33-33_1057418418/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-33-33_1057418418/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e30c94af35c01c3c195de6d2d08eb99c38bdc058 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-33-33_1057418418/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -725.649542591957, + -174.53061562265668, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -727.149542591957, + -171.93253941130337, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -728.649542591957, + -169.33446319995005, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -730.149542591957, + -166.73638698859673, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -731.649542591957, + -164.13831077724342, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -733.149542591957, + -161.5402345658901, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -734.649542591957, + -158.9421583545368, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -736.149542591957, + -156.34408214318347, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -737.649542591957, + -153.74600593183015, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -739.149542591957, + -151.14792972047684, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -740.649542591957, + -148.54985350912352, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -742.149542591957, + -145.9517772977702, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -743.649542591957, + -143.3537010864169, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -745.149542591957, + -140.75562487506357, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -746.649542591957, + -138.15754866371026, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -748.149542591957, + -135.55947245235694, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -749.649542591957, + -132.96139624100363, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -751.149542591957, + -130.3633200296503, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -751.149542591957, + -130.3633200296503, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -751.149542591957, + -127.36332002965031, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -751.149542591957, + -124.36332002965031, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -751.149542591957, + -121.36332002965031, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -751.149542591957, + -118.36332002965031, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -751.149542591957, + -115.36332002965031, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -751.149542591957, + -112.36332002965031, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -751.149542591957, + -109.36332002965031, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -751.149542591957, + -106.36332002965031, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -751.149542591957, + -103.36332002965031, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -751.149542591957, + -100.36332002965031, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -756.0, + -84.0, + 33.629 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-38-19_2001229904/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-38-19_2001229904/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9569350591003aa59af6da471fb7e655ca82de07 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-38-19_2001229904/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -681.7999822719895, + -301.41231381400166, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -684.3980584833428, + -299.91231381400166, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -686.9961346946961, + -298.41231381400166, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -689.5942109060495, + -296.91231381400166, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -692.1922871174029, + -295.41231381400166, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -694.7903633287563, + -293.91231381400166, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -697.3884395401096, + -292.41231381400166, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -699.986515751463, + -290.91231381400166, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -702.5845919628164, + -289.41231381400166, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -705.1826681741697, + -287.91231381400166, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -707.7807443855231, + -286.41231381400166, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -710.3788205968765, + -284.91231381400166, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -710.3788205968765, + -284.91231381400166, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -713.3788205968765, + -284.91231381400166, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -716.3788205968765, + -284.91231381400166, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -719.3788205968765, + -284.91231381400166, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -722.3788205968765, + -284.91231381400166, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -725.3788205968765, + -284.91231381400166, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -728.3788205968765, + -284.91231381400166, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -731.3788205968765, + -284.91231381400166, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -734.3788205968765, + -284.91231381400166, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -737.3788205968765, + -284.91231381400166, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -740.3788205968765, + -284.91231381400166, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -760.0, + -280.0, + 80.3059 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-46-52_524688209/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-46-52_524688209/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bfcca477f06bdb06f56d076e181d6ba102283abd --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-46-52_524688209/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -4.834286444042448, + -253.14491973300184, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -4.834286444042448, + -250.14491973300184, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -4.834286444042448, + -247.14491973300184, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -4.834286444042448, + -244.14491973300184, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -4.834286444042448, + -241.14491973300184, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -4.834286444042448, + -238.14491973300184, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -4.834286444042448, + -235.14491973300184, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -4.834286444042448, + -232.14491973300184, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -4.834286444042448, + -229.14491973300184, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -4.834286444042448, + -226.14491973300184, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -4.834286444042448, + -223.14491973300184, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -4.834286444042448, + -223.14491973300184, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -4.834286444042448, + -223.14491973300184, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -7.432362655395764, + -221.64491973300184, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -10.03043886674908, + -220.14491973300184, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -12.628515078102396, + -218.64491973300184, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -15.226591289455712, + -217.14491973300184, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -17.824667500809028, + -215.64491973300184, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -20.422743712162344, + -214.14491973300184, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -20.422743712162344, + -214.14491973300184, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -23.422743712162344, + -214.14491973300184, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -26.422743712162344, + -214.14491973300184, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -29.422743712162344, + -214.14491973300184, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -32.422743712162344, + -214.14491973300184, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -35.422743712162344, + -214.14491973300184, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -38.422743712162344, + -214.14491973300184, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -41.422743712162344, + -214.14491973300184, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -44.422743712162344, + -214.14491973300184, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -47.422743712162344, + -214.14491973300184, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -50.422743712162344, + -214.14491973300184, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -53.422743712162344, + -214.14491973300184, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -56.422743712162344, + -214.14491973300184, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -59.422743712162344, + -214.14491973300184, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -80.0, + -200.0, + 31.1346 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-56-13_255789528/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-56-13_255789528/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d93b194c028a118b2534314e200775558eb4d648 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-56-13_255789528/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 261.73924318599956, + 47.540171877734494, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 261.73924318599956, + 44.540171877734494, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 261.73924318599956, + 41.540171877734494, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 261.73924318599956, + 38.540171877734494, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 261.73924318599956, + 35.540171877734494, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 261.73924318599956, + 32.540171877734494, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 261.73924318599956, + 29.540171877734494, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 261.73924318599956, + 26.540171877734494, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 261.73924318599956, + 23.540171877734494, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 261.73924318599956, + 20.540171877734494, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 261.73924318599956, + 17.540171877734494, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 261.73924318599956, + 14.540171877734494, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 261.73924318599956, + 11.540171877734494, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 261.73924318599956, + 8.540171877734494, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 261.73924318599956, + 5.540171877734494, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 261.73924318599956, + 2.540171877734494, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 261.73924318599956, + 2.540171877734494, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 263.23924318599956, + -0.05790433361882208, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 264.73924318599956, + -2.655980544972138, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 266.23924318599956, + -5.254056756325454, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 268.0, + -36.0, + 45.9813 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-13-25_860516127/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-13-25_860516127/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3ad7ba41b3a3993fd19b47e8c75f025f00fa9022 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-13-25_860516127/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1151.9177305133298, + -520.6506779174779, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1149.3196543019765, + -519.1506779174779, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1146.721578090623, + -517.6506779174779, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1144.1235018792697, + -516.1506779174779, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1141.5254256679164, + -514.6506779174779, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1138.927349456563, + -513.1506779174779, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1136.3292732452096, + -511.6506779174779, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1133.7311970338562, + -510.1506779174779, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1131.1331208225029, + -508.6506779174779, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1128.5350446111495, + -507.1506779174779, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1125.9369683997961, + -505.6506779174779, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1123.3388921884427, + -504.1506779174779, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1120.7408159770894, + -502.6506779174779, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1118.142739765736, + -501.1506779174779, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1115.5446635543826, + -499.6506779174779, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1112.9465873430293, + -498.1506779174779, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1110.3485111316759, + -496.6506779174779, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1107.7504349203225, + -495.1506779174779, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1105.1523587089691, + -493.6506779174779, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1102.5542824976158, + -492.1506779174779, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1099.9562062862624, + -490.6506779174779, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1097.358130074909, + -489.1506779174779, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1097.358130074909, + -489.1506779174779, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1095.858130074909, + -486.55260170612456, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1094.358130074909, + -483.95452549477125, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1092.858130074909, + -481.35644928341793, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1091.358130074909, + -478.7583730720646, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1089.858130074909, + -476.1602968607113, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1088.358130074909, + -473.562220649358, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1086.858130074909, + -470.96414443800467, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1085.358130074909, + -468.36606822665135, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1076.0, + -464.0, + 33.7789 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-14-37_328298285/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-14-37_328298285/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..675b187456865ec345142675e62ddb5ff8a2e927 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-14-37_328298285/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -976.2993027958876, + -60.83711838431318, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -979.2993027958876, + -60.83711838431318, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -982.2993027958876, + -60.83711838431318, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -985.2993027958876, + -60.83711838431318, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -988.2993027958876, + -60.83711838431318, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -991.2993027958876, + -60.83711838431318, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -994.2993027958876, + -60.83711838431318, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -997.2993027958876, + -60.83711838431318, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1000.2993027958876, + -60.83711838431318, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1003.2993027958876, + -60.83711838431318, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1006.2993027958876, + -60.83711838431318, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1009.2993027958876, + -60.83711838431318, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1012.2993027958876, + -60.83711838431318, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1015.2993027958876, + -60.83711838431318, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1018.2993027958876, + -60.83711838431318, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1021.2993027958876, + -60.83711838431318, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1024.2993027958876, + -60.83711838431318, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1027.2993027958876, + -60.83711838431318, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1030.2993027958876, + -60.83711838431318, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1033.2993027958876, + -60.83711838431318, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1036.2993027958876, + -60.83711838431318, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1039.2993027958876, + -60.83711838431318, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1042.2993027958876, + -60.83711838431318, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1060.0, + -60.0, + 33.829 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-16-14_1219407971/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-16-14_1219407971/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b78dde9a1f850dae7c2265a69657f04c141b511d --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-16-14_1219407971/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1059.5160401199607, + -112.39178494434941, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1056.5160401199607, + -112.39178494434941, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1053.5160401199607, + -112.39178494434941, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1050.5160401199607, + -112.39178494434941, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1047.5160401199607, + -112.39178494434941, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1044.5160401199607, + -112.39178494434941, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1041.5160401199607, + -112.39178494434941, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1038.5160401199607, + -112.39178494434941, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1035.5160401199607, + -112.39178494434941, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1032.5160401199607, + -112.39178494434941, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1029.5160401199607, + -112.39178494434941, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1026.5160401199607, + -112.39178494434941, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1023.5160401199607, + -112.39178494434941, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1020.5160401199607, + -112.39178494434941, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1017.5160401199607, + -112.39178494434941, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1017.5160401199607, + -112.39178494434941, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1014.9179639086074, + -110.89178494434941, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1012.319887697254, + -109.39178494434941, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1009.7218114859006, + -107.89178494434941, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -996.0, + -108.0, + 73.4265 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-20-27_410409117/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-20-27_410409117/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ab038065a89736a1573a3ac98233dd8485bfcfe1 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-20-27_410409117/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 62.86582340745619, + -275.3049941803187, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 65.86582340745619, + -275.3049941803187, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 68.86582340745619, + -275.3049941803187, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 71.86582340745619, + -275.3049941803187, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 74.86582340745619, + -275.3049941803187, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 77.86582340745619, + -275.3049941803187, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 77.86582340745619, + -275.3049941803187, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 80.4638996188095, + -273.8049941803187, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 83.06197583016282, + -272.3049941803187, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 85.66005204151614, + -270.8049941803187, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 88.25812825286945, + -269.3049941803187, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 88.25812825286945, + -269.3049941803187, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 89.75812825286945, + -266.7069179689654, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 91.25812825286945, + -264.1088417576121, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 92.75812825286945, + -261.51076554625877, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 132.0, + -240.0, + 115.81 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-24-8_1411328205/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-24-8_1411328205/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..211b9245e7b62d5e4898d012ca933a029217ef4f --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-24-8_1411328205/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -966.1425347679318, + -483.4901483733581, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -968.7406109792851, + -484.9901483733581, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -971.3386871906384, + -486.4901483733581, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -973.9367634019918, + -487.9901483733581, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -976.5348396133452, + -489.4901483733581, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -979.1329158246986, + -490.9901483733581, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -981.7309920360519, + -492.4901483733581, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -984.3290682474053, + -493.9901483733581, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -986.9271444587587, + -495.4901483733581, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -989.525220670112, + -496.9901483733581, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -992.1232968814654, + -498.4901483733581, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -994.7213730928188, + -499.9901483733581, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -997.3194493041722, + -501.4901483733581, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -997.3194493041722, + -501.4901483733581, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1000.3194493041722, + -501.4901483733581, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1003.3194493041722, + -501.4901483733581, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1006.3194493041722, + -501.4901483733581, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1009.3194493041722, + -501.4901483733581, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1009.3194493041722, + -501.4901483733581, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1011.9175255155255, + -502.9901483733581, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1014.5156017268789, + -504.4901483733581, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1017.1136779382323, + -505.9901483733581, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1019.7117541495857, + -507.4901483733581, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1022.309830360939, + -508.9901483733581, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1024.9079065722924, + -510.4901483733581, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1024.9079065722924, + -510.4901483733581, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1026.4079065722924, + -513.0882245847115, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1027.9079065722924, + -515.6863007960649, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1048.0, + -528.0, + 115.738 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-25-10_1877565100/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-25-10_1877565100/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..06f18cd9f0e37ec282f4bc38f48717e8348929b1 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-25-10_1877565100/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -954.6422742836813, + -355.7938391675265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -957.6422742836813, + -355.7938391675265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -960.6422742836813, + -355.7938391675265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -963.6422742836813, + -355.7938391675265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -966.6422742836813, + -355.7938391675265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -969.6422742836813, + -355.7938391675265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -972.6422742836813, + -355.7938391675265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -975.6422742836813, + -355.7938391675265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -978.6422742836813, + -355.7938391675265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -981.6422742836813, + -355.7938391675265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -984.6422742836813, + -355.7938391675265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -987.6422742836813, + -355.7938391675265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -990.6422742836813, + -355.7938391675265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -993.6422742836813, + -355.7938391675265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -996.6422742836813, + -355.7938391675265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -999.6422742836813, + -355.7938391675265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1002.6422742836813, + -355.7938391675265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1005.6422742836813, + -355.7938391675265, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1005.6422742836813, + -355.7938391675265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1008.2403504950346, + -354.2938391675265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1010.838426706388, + -352.7938391675265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1013.4365029177413, + -351.2938391675265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1016.0345791290947, + -349.7938391675265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1018.6326553404481, + -348.2938391675265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1021.2307315518015, + -346.7938391675265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1023.8288077631548, + -345.2938391675265, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1048.0, + -340.0, + 75.7737 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-44-57_1026413173/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-44-57_1026413173/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..050b2e4b88584489a9c48af84fb29877fd15f94c --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-44-57_1026413173/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -682.197266357835, + -106.13253674160369, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -684.7953425691883, + -104.63253674160369, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -687.3934187805417, + -103.13253674160369, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -689.991494991895, + -101.63253674160369, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -692.5895712032484, + -100.13253674160369, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -695.1876474146018, + -98.63253674160369, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -697.7857236259551, + -97.13253674160369, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -700.3837998373085, + -95.63253674160369, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -702.9818760486619, + -94.13253674160369, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -705.5799522600153, + -92.63253674160369, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -708.1780284713686, + -91.13253674160369, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -710.776104682722, + -89.63253674160369, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -710.776104682722, + -89.63253674160369, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -713.776104682722, + -89.63253674160369, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -716.776104682722, + -89.63253674160369, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -719.776104682722, + -89.63253674160369, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -722.776104682722, + -89.63253674160369, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -725.776104682722, + -89.63253674160369, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -728.776104682722, + -89.63253674160369, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -731.776104682722, + -89.63253674160369, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -734.776104682722, + -89.63253674160369, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -737.776104682722, + -89.63253674160369, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -740.776104682722, + -89.63253674160369, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -756.0, + -84.0, + 33.629 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-45-33_1968217462/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-45-33_1968217462/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2cb2f017393c3a66bd7bd7304a8a1f0607b1d659 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-45-33_1968217462/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -80.33609598099576, + -173.30304828309116, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -82.93417219234908, + -174.80304828309116, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -85.5322484037024, + -176.30304828309116, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -88.13032461505571, + -177.80304828309116, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -90.72840082640903, + -179.30304828309116, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -93.32647703776234, + -180.80304828309116, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -95.92455324911566, + -182.30304828309116, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -98.52262946046898, + -183.80304828309116, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -101.1207056718223, + -185.30304828309116, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -103.71878188317561, + -186.80304828309116, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -106.31685809452892, + -188.30304828309116, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -106.31685809452892, + -188.30304828309116, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -107.81685809452892, + -190.90112449444447, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -109.31685809452892, + -193.4992007057978, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -110.81685809452892, + -196.0972769171511, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -112.31685809452892, + -198.69535312850442, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -113.81685809452892, + -201.29342933985774, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -132.0, + -216.0, + 46.3108 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-50-56_962033002/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-50-56_962033002/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f379ff388083547109d89daada241130a370416b --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-50-56_962033002/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -938.0103441089353, + -515.1813690316443, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -939.5103441089353, + -512.583292820291, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -941.0103441089353, + -509.9852166089377, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -942.5103441089353, + -507.3871403975844, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -944.0103441089353, + -504.7890641862311, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -945.5103441089353, + -502.19098797487777, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -947.0103441089353, + -499.59291176352446, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -948.5103441089353, + -496.99483555217114, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -950.0103441089353, + -494.3967593408178, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -951.5103441089353, + -491.7986831294645, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -953.0103441089353, + -489.2006069181112, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -954.5103441089353, + -486.6025307067579, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -956.0103441089353, + -484.00445449540456, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -956.0103441089353, + -484.00445449540456, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -958.6084203202886, + -482.50445449540456, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -961.206496531642, + -481.00445449540456, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -963.8045727429953, + -479.50445449540456, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -966.4026489543487, + -478.00445449540456, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -969.0007251657021, + -476.50445449540456, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -996.0, + -436.0, + 38.8111 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-55-33_395279207/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-55-33_395279207/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e4df45af68c2d8e07dc919903c5522c9d4e1a8b1 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-55-33_395279207/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -169.48425399027437, + -330.8912659925556, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -167.98425399027437, + -333.4893422039089, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -166.48425399027437, + -336.0874184152622, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -164.98425399027437, + -338.68549462661554, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -163.48425399027437, + -341.28357083796885, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -161.98425399027437, + -343.88164704932217, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -160.48425399027437, + -346.4797232606755, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -158.98425399027437, + -349.0777994720288, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -157.48425399027437, + -351.6758756833821, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -155.98425399027437, + -354.27395189473543, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -154.48425399027437, + -356.87202810608875, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -152.98425399027437, + -359.47010431744206, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -151.48425399027437, + -362.0681805287954, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -149.98425399027437, + -364.6662567401487, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -148.48425399027437, + -367.264332951502, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -146.98425399027437, + -369.86240916285533, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -146.98425399027437, + -369.86240916285533, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -144.38617777892105, + -371.36240916285533, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -141.78810156756774, + -372.86240916285533, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -139.19002535621442, + -374.36240916285533, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -136.5919491448611, + -375.86240916285533, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -133.9938729335078, + -377.36240916285533, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -131.39579672215447, + -378.86240916285533, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -124.0, + -388.0, + 35.7581 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-57-18_488663950/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-57-18_488663950/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6918c93b4a0fc9fb1f9ed1732ebe676a397f10d1 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-57-18_488663950/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1054.3406304381072, + -252.18569640150514, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1054.3406304381072, + -255.18569640150514, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1054.3406304381072, + -258.18569640150514, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1054.3406304381072, + -261.18569640150514, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1054.3406304381072, + -264.18569640150514, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1054.3406304381072, + -267.18569640150514, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1054.3406304381072, + -270.18569640150514, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1054.3406304381072, + -273.18569640150514, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1054.3406304381072, + -276.18569640150514, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1054.3406304381072, + -279.18569640150514, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1054.3406304381072, + -282.18569640150514, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1054.3406304381072, + -285.18569640150514, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1054.3406304381072, + -288.18569640150514, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1054.3406304381072, + -291.18569640150514, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1054.3406304381072, + -294.18569640150514, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1054.3406304381072, + -297.18569640150514, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1054.3406304381072, + -300.18569640150514, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1054.3406304381072, + -303.18569640150514, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1054.3406304381072, + -306.18569640150514, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1054.3406304381072, + -309.18569640150514, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1054.3406304381072, + -309.18569640150514, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1052.8406304381072, + -311.78377261285846, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1051.3406304381072, + -314.3818488242118, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1048.0, + -340.0, + 75.7737 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-59-21_1319041805/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-59-21_1319041805/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..48d7eee2da9e507d0b0a539f376a4788ae113d03 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-59-21_1319041805/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1267.9279754154345, + -281.33935816786015, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1264.9279754154345, + -281.33935816786015, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1261.9279754154345, + -281.33935816786015, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1258.9279754154345, + -281.33935816786015, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1255.9279754154345, + -281.33935816786015, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1252.9279754154345, + -281.33935816786015, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1249.9279754154345, + -281.33935816786015, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1246.9279754154345, + -281.33935816786015, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1243.9279754154345, + -281.33935816786015, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1240.9279754154345, + -281.33935816786015, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1237.9279754154345, + -281.33935816786015, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1234.9279754154345, + -281.33935816786015, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1231.9279754154345, + -281.33935816786015, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1228.9279754154345, + -281.33935816786015, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1225.9279754154345, + -281.33935816786015, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1222.9279754154345, + -281.33935816786015, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1222.9279754154345, + -281.33935816786015, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1220.3298992040811, + -279.83935816786015, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1217.7318229927278, + -278.33935816786015, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1215.1337467813744, + -276.83935816786015, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1212.535670570021, + -275.33935816786015, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1209.9375943586676, + -273.83935816786015, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1207.3395181473143, + -272.33935816786015, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1207.3395181473143, + -272.33935816786015, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1204.3395181473143, + -272.33935816786015, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1196.0, + -272.0, + 34.4509 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-7-7_496060028/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-7-7_496060028/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..48c5fa3e49aa2fddee2fee5b35dfa479896844f1 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-7-7_496060028/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -868.6570206686781, + -224.49300755396263, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -865.6570206686781, + -224.49300755396263, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -862.6570206686781, + -224.49300755396263, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -859.6570206686781, + -224.49300755396263, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -856.6570206686781, + -224.49300755396263, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -853.6570206686781, + -224.49300755396263, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -850.6570206686781, + -224.49300755396263, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -847.6570206686781, + -224.49300755396263, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -844.6570206686781, + -224.49300755396263, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -844.6570206686781, + -224.49300755396263, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -842.0589444573247, + -222.99300755396263, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -839.4608682459714, + -221.49300755396263, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -836.862792034618, + -219.99300755396263, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -834.2647158232646, + -218.49300755396263, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -831.6666396119113, + -216.99300755396263, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -829.0685634005579, + -215.49300755396263, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -804.0, + -208.0, + 36.2666 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-0-5_1066077375/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-0-5_1066077375/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4a87857394b8ea2dab5db739f4286d64db9f92f4 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-0-5_1066077375/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -696.4913728890211, + -361.32253450570664, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -699.4913728890211, + -361.32253450570664, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -702.4913728890211, + -361.32253450570664, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -705.4913728890211, + -361.32253450570664, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -708.4913728890211, + -361.32253450570664, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -711.4913728890211, + -361.32253450570664, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -714.4913728890211, + -361.32253450570664, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -717.4913728890211, + -361.32253450570664, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -720.4913728890211, + -361.32253450570664, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -723.4913728890211, + -361.32253450570664, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -726.4913728890211, + -361.32253450570664, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -729.4913728890211, + -361.32253450570664, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -732.4913728890211, + -361.32253450570664, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -735.4913728890211, + -361.32253450570664, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -738.4913728890211, + -361.32253450570664, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -741.4913728890211, + -361.32253450570664, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -760.0, + -360.0, + 35.7581 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-18-53_1814887560/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-18-53_1814887560/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9dade722f8967473fd8a1498dde577a6cbeb219b --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-18-53_1814887560/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1278.9776955028185, + -268.62638198647403, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1275.9776955028185, + -268.62638198647403, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1272.9776955028185, + -268.62638198647403, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1269.9776955028185, + -268.62638198647403, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1266.9776955028185, + -268.62638198647403, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1263.9776955028185, + -268.62638198647403, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1260.9776955028185, + -268.62638198647403, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1257.9776955028185, + -268.62638198647403, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1254.9776955028185, + -268.62638198647403, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1251.9776955028185, + -268.62638198647403, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1248.9776955028185, + -268.62638198647403, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1245.9776955028185, + -268.62638198647403, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1242.9776955028185, + -268.62638198647403, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1239.9776955028185, + -268.62638198647403, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1236.9776955028185, + -268.62638198647403, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1233.9776955028185, + -268.62638198647403, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1230.9776955028185, + -268.62638198647403, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1227.9776955028185, + -268.62638198647403, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1224.9776955028185, + -268.62638198647403, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1221.9776955028185, + -268.62638198647403, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1218.9776955028185, + -268.62638198647403, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1215.9776955028185, + -268.62638198647403, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1212.9776955028185, + -268.62638198647403, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1209.9776955028185, + -268.62638198647403, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1209.9776955028185, + -268.62638198647403, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1207.3796192914651, + -270.12638198647403, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1204.7815430801118, + -271.62638198647403, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1196.0, + -272.0, + 34.4509 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-19-40_690367770/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-19-40_690367770/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..da710d3faf82485be1bd9681509b14460d27e7b1 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-19-40_690367770/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1078.3163050185954, + 8.830743264628694, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1078.3163050185954, + 5.830743264628694, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1078.3163050185954, + 2.830743264628694, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1078.3163050185954, + -0.16925673537130592, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1078.3163050185954, + -3.169256735371306, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1078.3163050185954, + -6.169256735371306, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1078.3163050185954, + -9.169256735371306, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1078.3163050185954, + -12.169256735371306, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1078.3163050185954, + -15.169256735371306, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1078.3163050185954, + -18.169256735371306, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1078.3163050185954, + -21.169256735371306, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1078.3163050185954, + -24.169256735371306, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1078.3163050185954, + -27.169256735371306, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1078.3163050185954, + -30.169256735371306, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1078.3163050185954, + -33.169256735371306, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1078.3163050185954, + -36.169256735371306, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1078.3163050185954, + -39.169256735371306, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1078.3163050185954, + -42.169256735371306, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1078.3163050185954, + -45.169256735371306, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1078.3163050185954, + -48.169256735371306, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1078.3163050185954, + -51.169256735371306, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1080.0, + -60.0, + 35.9109 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-2-10_927376882/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-2-10_927376882/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..25da5ffa07cdb26c12ae2e86fdd939222db1f14b --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-2-10_927376882/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1055.1860426007433, + -49.4577046517247, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1055.1860426007433, + -52.4577046517247, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1055.1860426007433, + -55.4577046517247, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1055.1860426007433, + -58.4577046517247, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1055.1860426007433, + -61.4577046517247, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1055.1860426007433, + -64.4577046517247, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1055.1860426007433, + -67.4577046517247, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1055.1860426007433, + -70.4577046517247, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1055.1860426007433, + -73.4577046517247, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1055.1860426007433, + -76.4577046517247, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1055.1860426007433, + -79.4577046517247, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1055.1860426007433, + -82.4577046517247, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1055.1860426007433, + -85.4577046517247, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1055.1860426007433, + -88.4577046517247, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1055.1860426007433, + -91.4577046517247, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1055.1860426007433, + -94.4577046517247, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1055.1860426007433, + -97.4577046517247, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1055.1860426007433, + -100.4577046517247, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1055.1860426007433, + -103.4577046517247, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1055.1860426007433, + -103.4577046517247, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1053.6860426007433, + -106.05578086307801, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1052.1860426007433, + -108.65385707443133, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1050.6860426007433, + -111.25193328578465, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1049.1860426007433, + -113.85000949713796, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1048.0, + -128.0, + 62.9925 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-2-54_765326717/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-2-54_765326717/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8761dad45a873125299929a7f94b2700747a8aba --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-2-54_765326717/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 90.17160527930417, + -120.03191352799047, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 87.57352906795086, + -121.53191352799047, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 84.97545285659754, + -123.03191352799047, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 82.37737664524423, + -124.53191352799047, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 79.77930043389091, + -126.03191352799047, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 77.1812242225376, + -127.53191352799047, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 74.58314801118428, + -129.03191352799047, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 71.98507179983096, + -130.53191352799047, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 69.38699558847765, + -132.03191352799047, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 66.78891937712433, + -133.53191352799047, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 64.19084316577101, + -135.03191352799047, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 61.5927669544177, + -136.53191352799047, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 58.99469074306438, + -138.03191352799047, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 56.396614531711066, + -139.53191352799047, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 53.79853832035775, + -141.03191352799047, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 51.200462109004434, + -142.53191352799047, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 48.60238589765112, + -144.03191352799047, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 48.60238589765112, + -144.03191352799047, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 47.10238589765112, + -146.62998973934378, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 45.60238589765112, + -149.2280659506971, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 44.10238589765112, + -151.82614216205042, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 42.60238589765112, + -154.42421837340373, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 41.10238589765112, + -157.02229458475705, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 39.60238589765112, + -159.62037079611036, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 38.10238589765112, + -162.21844700746368, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 20.0, + -180.0, + 31.1527 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-22-46_2059344234/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-22-46_2059344234/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..05c2ae64395052ee34b358df1c71295f3b0eae5a --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-22-46_2059344234/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -957.6531160244425, + -544.7488627435467, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -954.6531160244425, + -544.7488627435467, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -951.6531160244425, + -544.7488627435467, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -948.6531160244425, + -544.7488627435467, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -945.6531160244425, + -544.7488627435467, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -942.6531160244425, + -544.7488627435467, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -939.6531160244425, + -544.7488627435467, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -936.6531160244425, + -544.7488627435467, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -936.6531160244425, + -544.7488627435467, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -934.0550398130893, + -546.2488627435467, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -931.4569636017359, + -547.7488627435467, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -928.8588873903825, + -549.2488627435467, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -926.2608111790291, + -550.7488627435467, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -923.6627349676758, + -552.2488627435467, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -860.0, + -564.0, + 62.9925 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-28-57_1669679262/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-28-57_1669679262/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ee68d04d3989e8d39c8eb6c969422429ebe7370b --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-28-57_1669679262/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -196.06135536563914, + -185.44562176868527, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -193.06135536563914, + -185.44562176868527, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -190.06135536563914, + -185.44562176868527, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -187.06135536563914, + -185.44562176868527, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -184.06135536563914, + -185.44562176868527, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -181.06135536563914, + -185.44562176868527, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -178.06135536563914, + -185.44562176868527, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -175.06135536563914, + -185.44562176868527, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -172.06135536563914, + -185.44562176868527, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -169.06135536563914, + -185.44562176868527, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -166.06135536563914, + -185.44562176868527, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -163.06135536563914, + -185.44562176868527, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -163.06135536563914, + -185.44562176868527, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -160.46327915428583, + -186.94562176868527, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -157.8652029429325, + -188.44562176868527, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -155.2671267315792, + -189.94562176868527, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -152.66905052022588, + -191.44562176868527, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -150.07097430887256, + -192.94562176868527, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -150.07097430887256, + -192.94562176868527, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -148.57097430887256, + -195.5436979800386, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -147.07097430887256, + -198.1417741913919, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -145.57097430887256, + -200.73985040274522, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -104.0, + -216.0, + 43.732 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-36-12_1289547084/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-36-12_1289547084/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d3531f94c47ca20738ab9635fb9394f5d9a77767 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-36-12_1289547084/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -695.8383764554734, + 71.26235948301841, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -698.8383764554734, + 71.26235948301841, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -701.8383764554734, + 71.26235948301841, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -704.8383764554734, + 71.26235948301841, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -707.8383764554734, + 71.26235948301841, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -710.8383764554734, + 71.26235948301841, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -713.8383764554734, + 71.26235948301841, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -716.8383764554734, + 71.26235948301841, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -719.8383764554734, + 71.26235948301841, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -722.8383764554734, + 71.26235948301841, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -725.8383764554734, + 71.26235948301841, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -728.8383764554734, + 71.26235948301841, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -731.8383764554734, + 71.26235948301841, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -734.8383764554734, + 71.26235948301841, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -737.8383764554734, + 71.26235948301841, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -740.8383764554734, + 71.26235948301841, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -743.8383764554734, + 71.26235948301841, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -764.0, + 72.0, + 43.7495 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-37-32_245798898/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-37-32_245798898/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5c84151547a6cefe38447ef2947163d726900466 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-37-32_245798898/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -915.7287339400862, + -311.2970016532945, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -913.1306577287328, + -312.7970016532945, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -910.5325815173794, + -314.2970016532945, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -907.934505306026, + -315.7970016532945, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -905.3364290946727, + -317.2970016532945, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -902.7383528833193, + -318.7970016532945, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -900.1402766719659, + -320.2970016532945, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -897.5422004606125, + -321.7970016532945, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -894.9441242492592, + -323.2970016532945, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -892.3460480379058, + -324.7970016532945, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -889.7479718265524, + -326.2970016532945, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -887.1498956151991, + -327.7970016532945, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -884.5518194038457, + -329.2970016532945, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -881.9537431924923, + -330.7970016532945, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -879.3556669811389, + -332.2970016532945, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -876.7575907697856, + -333.7970016532945, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -874.1595145584322, + -335.2970016532945, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -871.5614383470788, + -336.7970016532945, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -868.9633621357254, + -338.2970016532945, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -868.9633621357254, + -338.2970016532945, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -867.4633621357254, + -340.8950778646478, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -865.9633621357254, + -343.49315407600113, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -852.0, + -356.0, + 41.8381 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-45-14_235202254/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-45-14_235202254/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..65972d2106a08c808a503683a416db654bdda478 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-45-14_235202254/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -958.8190192818837, + -324.96990783280074, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -956.2209430705304, + -323.46990783280074, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -953.6228668591771, + -321.96990783280074, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -951.0247906478237, + -320.46990783280074, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -948.4267144364703, + -318.96990783280074, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -945.828638225117, + -317.46990783280074, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -943.2305620137636, + -315.96990783280074, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -940.6324858024102, + -314.46990783280074, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -938.0344095910568, + -312.96990783280074, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -935.4363333797035, + -311.46990783280074, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -932.8382571683501, + -309.96990783280074, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -930.2401809569967, + -308.46990783280074, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -927.6421047456433, + -306.96990783280074, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -927.6421047456433, + -306.96990783280074, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -926.1421047456433, + -304.3718316214474, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -924.6421047456433, + -301.7737554100941, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -900.0, + -280.0, + 120.431 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-5-41_1646478179/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-5-41_1646478179/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bd5c44a0fb0ff13897310cb108c288f5c2ecb8ad --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-5-41_1646478179/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -168.27667385848537, + -165.37306121427088, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -165.27667385848537, + -165.37306121427088, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -162.27667385848537, + -165.37306121427088, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -159.27667385848537, + -165.37306121427088, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -159.27667385848537, + -165.37306121427088, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -156.67859764713205, + -163.87306121427088, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -156.67859764713205, + -163.87306121427088, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -155.17859764713205, + -161.27498500291756, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -153.67859764713205, + -158.67690879156424, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -152.17859764713205, + -156.07883258021093, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -150.67859764713205, + -153.4807563688576, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -149.17859764713205, + -150.8826801575043, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -147.67859764713205, + -148.28460394615098, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -147.67859764713205, + -148.28460394615098, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -145.08052143577873, + -146.78460394615098, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -142.48244522442542, + -145.28460394615098, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -139.8843690130721, + -143.78460394615098, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -137.2862928017188, + -142.28460394615098, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -134.68821659036547, + -140.78460394615098, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -132.09014037901215, + -139.28460394615098, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -129.49206416765884, + -137.78460394615098, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -129.49206416765884, + -137.78460394615098, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -126.49206416765884, + -137.78460394615098, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -123.49206416765884, + -137.78460394615098, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -120.49206416765884, + -137.78460394615098, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -104.0, + -128.0, + 43.732 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-57-19_476564285/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-57-19_476564285/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9ad12360cd3cbdb0744d914f5c2ee96ed7f32c1c --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-57-19_476564285/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -928.426008067042, + -50.94704267861006, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -926.926008067042, + -53.545118889963376, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -925.426008067042, + -56.14319510131669, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -923.926008067042, + -58.74127131267001, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -923.926008067042, + -58.74127131267001, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -923.926008067042, + -61.74127131267001, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -923.926008067042, + -64.74127131267001, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -923.926008067042, + -67.74127131267001, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -923.926008067042, + -70.74127131267001, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -908.0, + -136.0, + 62.9925 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-7-46_1738110294/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-7-46_1738110294/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4baf9c7fdc2f3633f652b31219303ec262a23cc0 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-7-46_1738110294/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 94.34506678590532, + -33.62264561718828, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 91.746990574552, + -35.12264561718828, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 89.14891436319868, + -36.62264561718828, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 86.55083815184537, + -38.12264561718828, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 83.95276194049205, + -39.62264561718828, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 81.35468572913874, + -41.12264561718828, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 78.75660951778542, + -42.62264561718828, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 76.1585333064321, + -44.12264561718828, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 73.56045709507879, + -45.62264561718828, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 70.96238088372547, + -47.12264561718828, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 68.36430467237216, + -48.62264561718828, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 65.76622846101884, + -50.12264561718828, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 63.168152249665525, + -51.62264561718828, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 60.57007603831221, + -53.12264561718828, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 60.57007603831221, + -53.12264561718828, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 59.07007603831221, + -55.7207218285416, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 57.57007603831221, + -58.318798039894915, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 56.07007603831221, + -60.91687425124823, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 54.57007603831221, + -63.51495046260155, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 53.07007603831221, + -66.11302667395486, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.0, + -84.0, + 79.2117 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-0-39_1660651136/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-0-39_1660651136/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9a9d95daa3547492342dbb8206d9f36f9136f8b6 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-0-39_1660651136/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 117.57620966693995, + -128.74336703430467, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 120.57620966693995, + -128.74336703430467, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 123.57620966693995, + -128.74336703430467, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 126.57620966693995, + -128.74336703430467, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 129.57620966693995, + -128.74336703430467, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 132.57620966693995, + -128.74336703430467, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 135.57620966693995, + -128.74336703430467, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 135.57620966693995, + -128.74336703430467, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 138.17428587829326, + -127.24336703430467, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 140.77236208964658, + -125.74336703430467, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 143.3704383009999, + -124.24336703430467, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 145.9685145123532, + -122.74336703430467, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 148.56659072370653, + -121.24336703430467, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 151.16466693505984, + -119.74336703430467, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 153.76274314641316, + -118.24336703430467, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 156.36081935776647, + -116.74336703430467, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 158.9588955691198, + -115.24336703430467, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 161.5569717804731, + -113.74336703430467, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 164.15504799182642, + -112.24336703430467, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 180.0, + -108.0, + 62.9925 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-11-21_1844400657/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-11-21_1844400657/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4cfaaaee1eda2bd19dfebff1d85875c184ac0725 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-11-21_1844400657/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 318.3985804657307, + -506.6664129681983, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 316.8985804657307, + -504.068336756845, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 315.3985804657307, + -501.47026054549167, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 313.8985804657307, + -498.87218433413835, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 312.3985804657307, + -496.27410812278504, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 310.8985804657307, + -493.6760319114317, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 309.3985804657307, + -491.0779557000784, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 307.8985804657307, + -488.4798794887251, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 306.3985804657307, + -485.8818032773718, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 304.8985804657307, + -483.28372706601846, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 304.8985804657307, + -483.28372706601846, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 304.8985804657307, + -480.28372706601846, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 304.8985804657307, + -477.28372706601846, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 304.8985804657307, + -474.28372706601846, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 304.8985804657307, + -471.28372706601846, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 292.0, + -428.0, + 45.9813 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-17-21_415522325/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-17-21_415522325/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..705c0e1e3c85263951108585ffe99f204b391bb9 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-17-21_415522325/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -45.263551375026424, + -240.23158524394032, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -45.263551375026424, + -237.23158524394032, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -45.263551375026424, + -234.23158524394032, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -45.263551375026424, + -231.23158524394032, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -45.263551375026424, + -228.23158524394032, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -45.263551375026424, + -228.23158524394032, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -43.763551375026424, + -225.633509032587, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -42.263551375026424, + -223.03543282123368, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -40.763551375026424, + -220.43735660988037, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -39.263551375026424, + -217.83928039852705, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -37.763551375026424, + -215.24120418717374, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -37.763551375026424, + -215.24120418717374, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -37.763551375026424, + -215.24120418717374, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -34.763551375026424, + -215.24120418717374, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -31.763551375026424, + -215.24120418717374, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -28.763551375026424, + -215.24120418717374, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -25.763551375026424, + -215.24120418717374, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -22.763551375026424, + -215.24120418717374, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -19.763551375026424, + -215.24120418717374, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -16.763551375026424, + -215.24120418717374, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -16.763551375026424, + -215.24120418717374, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -14.165475163673108, + -213.74120418717374, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -11.567398952319792, + -212.24120418717374, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -8.969322740966476, + -210.74120418717374, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -6.37124652961316, + -209.24120418717374, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -3.7731703182598437, + -207.74120418717374, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1.1750941069065277, + -206.24120418717374, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1.4229821044467883, + -204.74120418717374, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1.4229821044467883, + -204.74120418717374, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2.9229821044467887, + -202.14312797582042, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4.422982104446789, + -199.5450517644671, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 5.92298210444679, + -196.9469755531138, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965974 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 7.42298210444679, + -194.34889934176047, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 8.92298210444679, + -191.75082313040716, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 10.42298210444679, + -189.15274691905384, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 20.0, + -180.0, + 31.1527 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-20-29_576994985/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-20-29_576994985/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..df2290ac0dbd1267cd069171221188f82ef8210c --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-20-29_576994985/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -831.9475917694579, + -359.05331018413983, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -828.9475917694579, + -359.05331018413983, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -825.9475917694579, + -359.05331018413983, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -822.9475917694579, + -359.05331018413983, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -819.9475917694579, + -359.05331018413983, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -816.9475917694579, + -359.05331018413983, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -813.9475917694579, + -359.05331018413983, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -813.9475917694579, + -359.05331018413983, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -811.3495155581045, + -357.55331018413983, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -811.3495155581045, + -357.55331018413983, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -808.3495155581045, + -357.55331018413983, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -805.3495155581045, + -357.55331018413983, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -802.3495155581045, + -357.55331018413983, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -799.3495155581045, + -357.55331018413983, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -796.3495155581045, + -357.55331018413983, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -793.3495155581045, + -357.55331018413983, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -790.3495155581045, + -357.55331018413983, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -787.3495155581045, + -357.55331018413983, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -784.3495155581045, + -357.55331018413983, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -781.3495155581045, + -357.55331018413983, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -778.3495155581045, + -357.55331018413983, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -775.3495155581045, + -357.55331018413983, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -775.3495155581045, + -357.55331018413983, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -772.7514393467511, + -359.05331018413983, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -760.0, + -360.0, + 35.7581 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-23-29_202550399/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-23-29_202550399/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..268c7ae4016230c429c839dc0f2fafc2830c91e8 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-23-29_202550399/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1116.1959408130192, + -313.3553026304327, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1118.7940170243726, + -311.8553026304327, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1121.392093235726, + -310.3553026304327, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1123.9901694470793, + -308.8553026304327, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1126.5882456584327, + -307.3553026304327, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1129.186321869786, + -305.8553026304327, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1131.7843980811394, + -304.3553026304327, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1134.3824742924928, + -302.8553026304327, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1136.9805505038462, + -301.3553026304327, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1139.5786267151996, + -299.8553026304327, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1142.176702926553, + -298.3553026304327, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1144.7747791379063, + -296.8553026304327, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1147.3728553492597, + -295.3553026304327, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1196.0, + -272.0, + 34.4509 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-26-42_916018859/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-26-42_916018859/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e3b80c27affd3d4cebd63f26410a33148e017199 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-26-42_916018859/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -854.2301205444606, + -504.96088035205975, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -854.2301205444606, + -501.96088035205975, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -854.2301205444606, + -498.96088035205975, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -854.2301205444606, + -495.96088035205975, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -854.2301205444606, + -492.96088035205975, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -854.2301205444606, + -489.96088035205975, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -854.2301205444606, + -486.96088035205975, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -854.2301205444606, + -483.96088035205975, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -854.2301205444606, + -480.96088035205975, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -854.2301205444606, + -477.96088035205975, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -854.2301205444606, + -474.96088035205975, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -854.2301205444606, + -471.96088035205975, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -854.2301205444606, + -468.96088035205975, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -854.2301205444606, + -465.96088035205975, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -854.2301205444606, + -462.96088035205975, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -854.2301205444606, + -459.96088035205975, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -854.2301205444606, + -456.96088035205975, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -854.2301205444606, + -453.96088035205975, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -854.2301205444606, + -453.96088035205975, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -852.7301205444606, + -451.36280414070643, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -851.2301205444606, + -448.7647279293531, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -849.7301205444606, + -446.1666517179998, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -848.2301205444606, + -443.5685755066465, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -848.2301205444606, + -443.5685755066465, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -848.2301205444606, + -440.5685755066465, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -848.2301205444606, + -437.5685755066465, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -848.2301205444606, + -437.5685755066465, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -848.2301205444606, + -437.5685755066465, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -845.6320443331074, + -436.0685755066465, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -843.033968121754, + -434.5685755066465, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -840.4358919104006, + -433.0685755066465, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -837.8378156990473, + -431.5685755066465, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -835.2397394876939, + -430.0685755066465, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -832.6416632763405, + -428.5685755066465, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -828.0, + -412.0, + 36.399 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-32-43_158136104/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-32-43_158136104/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..24e97725d3c8aa207d01725a818936cdca83b2a4 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-32-43_158136104/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -958.487029042384, + -448.61578178327284, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -959.987029042384, + -451.21385799462615, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -961.487029042384, + -453.81193420597947, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -962.987029042384, + -456.4100104173328, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -964.487029042384, + -459.0080866286861, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -965.987029042384, + -461.6061628400394, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -967.487029042384, + -464.20423905139273, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -968.987029042384, + -466.80231526274605, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -970.487029042384, + -469.40039147409937, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -970.487029042384, + -469.40039147409937, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -970.487029042384, + -472.40039147409937, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -970.487029042384, + -475.40039147409937, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -970.487029042384, + -475.40039147409937, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -971.987029042384, + -477.9984676854527, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -973.487029042384, + -480.596543896806, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -974.987029042384, + -483.1946201081593, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -976.487029042384, + -485.79269631951263, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -977.987029042384, + -488.39077253086595, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -979.487029042384, + -490.98884874221926, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -980.987029042384, + -493.5869249535726, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -996.0, + -520.0, + 75.5737 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-35-6_2067062760/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-35-6_2067062760/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4f3f2aab2f91f138812797f83198449755014a0b --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-35-6_2067062760/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1038.9538566848698, + -85.65607367681545, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1040.4538566848698, + -83.05799746546214, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1041.9538566848698, + -80.45992125410882, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1043.4538566848698, + -77.8618450427555, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1044.9538566848698, + -75.26376883140219, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1046.4538566848698, + -72.66569262004887, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1047.9538566848698, + -70.06761640869556, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1049.4538566848698, + -67.46954019734224, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1050.9538566848698, + -64.87146398598892, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1052.4538566848698, + -62.27338777463561, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1053.9538566848698, + -59.67531156328229, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1055.4538566848698, + -57.07723535192898, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1056.9538566848698, + -54.47915914057566, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1058.4538566848698, + -51.881082929222345, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1059.9538566848698, + -49.28300671786903, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1061.4538566848698, + -46.68493050651571, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1068.0, + -32.0, + 35.7581 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-36-49_1880346039/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-36-49_1880346039/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8d9c6351ae14ccfc80664c3f92ca139a4934a078 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-36-49_1880346039/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -784.010726040049, + -218.95751331301045, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -786.6088022514023, + -220.45751331301045, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -789.2068784627556, + -221.95751331301045, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -791.804954674109, + -223.45751331301045, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -794.4030308854624, + -224.95751331301045, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -797.0011070968158, + -226.45751331301045, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -799.5991833081691, + -227.95751331301045, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -802.1972595195225, + -229.45751331301045, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -804.7953357308759, + -230.95751331301045, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -807.3934119422292, + -232.45751331301045, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -807.3934119422292, + -232.45751331301045, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -810.3934119422292, + -232.45751331301045, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -813.3934119422292, + -232.45751331301045, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -816.3934119422292, + -232.45751331301045, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -819.3934119422292, + -232.45751331301045, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -864.0, + -244.0, + 62.9925 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-38-18_2079611790/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-38-18_2079611790/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..032159a141ef4cf62dbefc83b6edb0c33c385f59 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-38-18_2079611790/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1086.6806541208227, + -156.0594777493651, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1085.1806541208227, + -153.46140153801178, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1083.6806541208227, + -150.86332532665847, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1083.6806541208227, + -150.86332532665847, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1081.0825779094694, + -149.36332532665847, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1078.484501698116, + -147.86332532665847, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1078.484501698116, + -147.86332532665847, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1076.984501698116, + -145.26524911530515, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1075.484501698116, + -142.66717290395184, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1073.984501698116, + -140.06909669259852, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1072.484501698116, + -137.4710204812452, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1070.984501698116, + -134.8729442698919, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1069.484501698116, + -132.27486805853857, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1067.984501698116, + -129.67679184718526, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1066.484501698116, + -127.07871563583194, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1064.984501698116, + -124.48063942447862, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1063.484501698116, + -121.88256321312531, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1061.984501698116, + -119.28448700177199, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1061.984501698116, + -119.28448700177199, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1061.984501698116, + -116.28448700177199, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1061.984501698116, + -113.28448700177199, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1061.984501698116, + -110.28448700177199, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1061.984501698116, + -107.28448700177199, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1061.984501698116, + -104.28448700177199, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1061.984501698116, + -101.28448700177199, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1061.984501698116, + -98.28448700177199, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1061.984501698116, + -95.28448700177199, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1061.984501698116, + -92.28448700177199, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1061.984501698116, + -89.28448700177199, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1061.984501698116, + -86.28448700177199, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1061.984501698116, + -83.28448700177199, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1061.984501698116, + -80.28448700177199, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1061.984501698116, + -77.28448700177199, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1061.984501698116, + -74.28448700177199, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1060.0, + -60.0, + 33.829 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-38-37_1092637289/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-38-37_1092637289/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5a7f4c04f29394373a958a7eeebc80942462dec6 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-38-37_1092637289/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1021.518919934577, + -407.15660971800594, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1023.018919934577, + -404.5585335066526, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1024.5189199345768, + -401.9604572952993, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393163 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1026.0189199345768, + -399.362381083946, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1027.5189199345768, + -396.7643048725927, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1029.0189199345768, + -394.16622866123936, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1030.5189199345768, + -391.56815244988604, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1048.0, + -340.0, + 75.7737 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-39-45_562395735/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-39-45_562395735/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..90d28f363e17f812369977655aa7292c2a60d9a5 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-39-45_562395735/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 194.39660708765638, + -561.446241205959, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 195.89660708765638, + -564.0443174173124, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 197.39660708765638, + -566.6423936286658, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 198.89660708765638, + -569.2404698400192, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 200.39660708765638, + -571.8385460513725, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 201.89660708765638, + -574.4366222627259, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 203.39660708765638, + -577.0346984740793, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 204.89660708765638, + -579.6327746854327, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 206.39660708765638, + -582.230850896786, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 207.89660708765638, + -584.8289271081394, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 209.39660708765638, + -587.4270033194928, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 210.89660708765638, + -590.0250795308461, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 212.39660708765638, + -592.6231557421995, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 212.39660708765638, + -592.6231557421995, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 214.9946832990097, + -594.1231557421995, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 217.592759510363, + -595.6231557421995, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 220.19083572171633, + -597.1231557421995, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 222.78891193306964, + -598.6231557421995, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 225.38698814442296, + -600.1231557421995, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 244.0, + -620.0, + 33.8289 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-4-28_216220853/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-4-28_216220853/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f5c67049b2c6549faf506efbff17392f3700b786 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-4-28_216220853/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1016.1819808752563, + -106.66440758616233, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1017.6819808752563, + -104.06633137480901, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1019.1819808752563, + -101.4682551634557, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1020.6819808752563, + -98.87017895210238, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1022.1819808752563, + -96.27210274074906, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1023.6819808752563, + -93.67402652939575, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1023.6819808752563, + -93.67402652939575, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1026.2800570866095, + -92.17402652939575, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1028.878133297963, + -90.67402652939575, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1031.4762095093163, + -89.17402652939575, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1034.0742857206696, + -87.67402652939575, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1036.672361932023, + -86.17402652939575, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1039.2704381433764, + -84.67402652939575, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1041.8685143547298, + -83.17402652939575, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1041.8685143547298, + -83.17402652939575, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1043.3685143547298, + -80.57595031804243, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1044.8685143547298, + -77.97787410668911, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1060.0, + -60.0, + 33.829 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-44-15_213213171/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-44-15_213213171/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..55bfb8a8bad1bf7cc5369ac5487e3faa631221e9 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-44-15_213213171/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 178.87574151495335, + -596.0126692496266, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 181.87574151495335, + -596.0126692496266, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 184.87574151495335, + -596.0126692496266, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 187.87574151495335, + -596.0126692496266, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 187.87574151495335, + -596.0126692496266, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 190.47381772630666, + -597.5126692496266, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 193.07189393765998, + -599.0126692496266, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 244.0, + -620.0, + 33.8289 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-5-49_1610009097/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-5-49_1610009097/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c7c4f5bf6f421395a1906fe3c170a4944bf2f26a --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-5-49_1610009097/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -967.665130048746, + -313.6360776066306, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -965.0670538373927, + -315.1360776066306, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -962.4689776260393, + -316.6360776066306, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -959.8709014146859, + -318.1360776066306, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -957.2728252033326, + -319.6360776066306, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -954.6747489919792, + -321.1360776066306, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -952.0766727806258, + -322.6360776066306, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -949.4785965692724, + -324.1360776066306, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -946.8805203579191, + -325.6360776066306, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -944.2824441465657, + -327.1360776066306, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -941.6843679352123, + -328.6360776066306, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -939.086291723859, + -330.1360776066306, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -936.4882155125056, + -331.6360776066306, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -933.8901393011522, + -333.1360776066306, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -931.2920630897988, + -334.6360776066306, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -928.6939868784455, + -336.1360776066306, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -928.6939868784455, + -336.1360776066306, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -927.1939868784455, + -338.7341538179839, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -925.6939868784455, + -341.3322300293372, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -916.0, + -348.0, + 62.9925 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-50-45_1840019304/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-50-45_1840019304/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d54a77bcc5a01bdb002a54e8dde6b7a225b85084 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-50-45_1840019304/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -915.9186182230649, + 115.87450676720194, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -914.4186182230649, + 113.27643055584862, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -912.9186182230649, + 110.6783543444953, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -911.4186182230649, + 108.08027813314199, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -909.9186182230649, + 105.48220192178867, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -908.4186182230649, + 102.88412571043536, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -906.9186182230649, + 100.28604949908204, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -905.4186182230649, + 97.68797328772872, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -905.4186182230649, + 97.68797328772872, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -902.8205420117115, + 96.18797328772872, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -900.2224658003581, + 94.68797328772872, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -897.6243895890047, + 93.18797328772872, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -895.0263133776514, + 91.68797328772872, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -892.428237166298, + 90.18797328772872, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -889.8301609549446, + 88.68797328772872, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -887.2320847435913, + 87.18797328772872, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -887.2320847435913, + 87.18797328772872, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -885.7320847435913, + 84.58989707637541, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -884.2320847435913, + 81.99182086502209, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -882.7320847435913, + 79.39374465366878, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -876.0, + 68.0, + 45.9813 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-50-58_1953161956/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-50-58_1953161956/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..93feef0b6c2e433544bf6ab753897b2e89a4d5f3 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-50-58_1953161956/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 256.31647654895926, + -566.4523376722348, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 257.81647654895926, + -569.0504138835881, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 259.31647654895926, + -571.6484900949415, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 260.81647654895926, + -574.2465663062949, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 260.81647654895926, + -574.2465663062949, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 260.81647654895926, + -577.2465663062949, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 260.81647654895926, + -580.2465663062949, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 260.81647654895926, + -583.2465663062949, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 260.81647654895926, + -586.2465663062949, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 260.81647654895926, + -589.2465663062949, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 260.81647654895926, + -589.2465663062949, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 262.31647654895926, + -591.8446425176483, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 263.81647654895926, + -594.4427187290016, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 265.31647654895926, + -597.040794940355, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 266.81647654895926, + -599.6388711517084, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 284.0, + -660.0, + 46.329 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-52-31_1970090192/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-52-31_1970090192/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e9af34cf2de06102b2b339e3037de51a3275ba7c --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-52-31_1970090192/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -85.81145833591778, + -515.6790733974192, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -87.31145833591778, + -518.2771496087726, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -88.81145833591778, + -520.8752258201259, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -90.31145833591778, + -523.4733020314793, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -91.81145833591778, + -526.0713782428327, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -93.31145833591778, + -528.669454454186, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -94.81145833591778, + -531.2675306655394, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -96.31145833591778, + -533.8656068768928, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -97.81145833591778, + -536.4636830882462, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -97.81145833591778, + -536.4636830882462, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -100.4095345472711, + -537.9636830882462, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -103.00761075862441, + -539.4636830882462, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -103.00761075862441, + -539.4636830882462, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -106.00761075862441, + -539.4636830882462, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -128.0, + -560.0, + 45.9813 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-55-36_1116945487/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-55-36_1116945487/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c250aa5e37375e5b3fba5a79786a7ef5aebba29b --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-55-36_1116945487/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -217.48560132031508, + -265.93302223922905, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -214.88752510896177, + -264.43302223922905, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -212.28944889760845, + -262.93302223922905, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -209.69137268625514, + -261.43302223922905, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -207.09329647490182, + -259.93302223922905, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -204.4952202635485, + -258.43302223922905, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -201.8971440521952, + -256.93302223922905, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -199.29906784084187, + -255.43302223922905, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -196.70099162948856, + -253.93302223922905, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -194.10291541813524, + -252.43302223922905, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -191.50483920678192, + -250.93302223922905, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -188.9067629954286, + -249.43302223922905, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -186.3086867840753, + -247.93302223922905, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -183.71061057272198, + -246.43302223922905, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -181.11253436136866, + -244.93302223922905, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -178.51445815001534, + -243.43302223922905, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -175.91638193866203, + -241.93302223922905, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -173.3183057273087, + -240.43302223922905, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -170.7202295159554, + -238.93302223922905, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -168.12215330460208, + -237.43302223922905, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -165.52407709324876, + -235.93302223922905, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -162.92600088189545, + -234.43302223922905, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -160.32792467054213, + -232.93302223922905, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -157.72984845918882, + -231.43302223922905, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -155.1317722478355, + -229.93302223922905, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -152.53369603648218, + -228.43302223922905, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -149.93561982512887, + -226.93302223922905, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -147.33754361377555, + -225.43302223922905, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -144.73946740242224, + -223.93302223922905, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -132.0, + -216.0, + 46.3108 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-6-39_846621269/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-6-39_846621269/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7b06f1f3ee9f37fc01c7a5a87d7b9638c64f6cb3 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-6-39_846621269/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1116.8839964824697, + -154.95625296046111, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1113.8839964824697, + -154.95625296046111, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1110.8839964824697, + -154.95625296046111, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1107.8839964824697, + -154.95625296046111, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1104.8839964824697, + -154.95625296046111, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1101.8839964824697, + -154.95625296046111, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1098.8839964824697, + -154.95625296046111, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1095.8839964824697, + -154.95625296046111, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1092.8839964824697, + -154.95625296046111, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1092.8839964824697, + -154.95625296046111, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1090.2859202711163, + -153.45625296046111, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1087.687844059763, + -151.95625296046111, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1085.0897678484096, + -150.45625296046111, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1082.4916916370562, + -148.95625296046111, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1079.8936154257028, + -147.45625296046111, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1077.2955392143494, + -145.95625296046111, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1074.697463002996, + -144.45625296046111, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1074.697463002996, + -144.45625296046111, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1073.197463002996, + -141.8581767491078, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1071.697463002996, + -139.26010053775448, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1048.0, + -128.0, + 62.9925 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-1-42_482417719/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-1-42_482417719/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..53caee5dad5e78fa4e13b74061e012afd6323c19 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-1-42_482417719/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 89.05442888562085, + -326.6588972779724, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 87.55442888562085, + -324.0608210666191, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 86.05442888562085, + -321.4627448552658, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 84.55442888562085, + -318.86466864391247, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 83.05442888562085, + -316.26659243255915, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 81.55442888562085, + -313.66851622120583, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 80.05442888562085, + -311.0704400098525, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 78.55442888562085, + -308.4723637984992, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 77.05442888562085, + -305.8742875871459, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 75.55442888562085, + -303.27621137579257, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 74.05442888562085, + -300.67813516443925, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 72.55442888562085, + -298.08005895308594, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 71.05442888562085, + -295.4819827417326, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 69.55442888562085, + -292.8839065303793, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 68.05442888562085, + -290.285830319026, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 66.55442888562085, + -287.6877541076727, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 65.05442888562085, + -285.08967789631936, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 63.55442888562085, + -282.49160168496604, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 62.05442888562085, + -279.8935254736127, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 60.55442888562085, + -277.2954492622594, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 59.05442888562085, + -274.6973730509061, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 57.55442888562085, + -272.0992968395528, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 56.05442888562085, + -269.50122062819946, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 56.05442888562085, + -269.50122062819946, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 53.456352674267535, + -268.00122062819946, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 50.85827646291422, + -266.50122062819946, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.0, + -248.0, + 46.329 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-10-9_213952386/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-10-9_213952386/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2820b10bf08eebd8ce24b382d8769872725c02e1 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-10-9_213952386/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -732.5606074445705, + -150.80108108670635, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -735.1586836559238, + -152.30108108670635, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -737.7567598672772, + -153.80108108670635, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -740.3548360786306, + -155.30108108670635, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -742.9529122899839, + -156.80108108670635, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -745.5509885013373, + -158.30108108670635, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -748.1490647126907, + -159.80108108670635, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -750.7471409240441, + -161.30108108670635, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -753.3452171353974, + -162.80108108670635, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -755.9432933467508, + -164.30108108670635, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -758.5413695581042, + -165.80108108670635, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -761.1394457694576, + -167.30108108670635, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -763.7375219808109, + -168.80108108670635, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -766.3355981921643, + -170.30108108670635, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -768.9336744035177, + -171.80108108670635, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -771.531750614871, + -173.30108108670635, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -774.1298268262244, + -174.80108108670635, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -776.7279030375778, + -176.30108108670635, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -779.3259792489312, + -177.80108108670635, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -779.3259792489312, + -177.80108108670635, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -780.8259792489312, + -180.39915729805966, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -782.3259792489312, + -182.99723350941298, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -783.8259792489312, + -185.5953097207663, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -785.3259792489312, + -188.1933859321196, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -786.8259792489312, + -190.79146214347293, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -788.3259792489312, + -193.38953835482624, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -789.8259792489312, + -195.98761456617956, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -791.3259792489312, + -198.58569077753288, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -804.0, + -208.0, + 36.2666 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-11-25_1111800030/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-11-25_1111800030/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..91c00a52edd4e430079b6504d0b219f569f3969c --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-11-25_1111800030/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 354.4376782637174, + -389.5343602719251, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 351.83960205236406, + -391.0343602719251, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 349.24152584101074, + -392.5343602719251, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 346.6434496296574, + -394.0343602719251, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 344.0453734183041, + -395.5343602719251, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 341.4472972069508, + -397.0343602719251, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 338.8492209955975, + -398.5343602719251, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 336.25114478424416, + -400.0343602719251, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 333.65306857289085, + -401.5343602719251, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 331.05499236153753, + -403.0343602719251, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 328.4569161501842, + -404.5343602719251, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 325.8588399388309, + -406.0343602719251, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 323.2607637274776, + -407.5343602719251, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 320.66268751612427, + -409.0343602719251, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 318.06461130477095, + -410.5343602719251, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 315.46653509341763, + -412.0343602719251, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 312.8684588820643, + -413.5343602719251, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 310.270382670711, + -415.0343602719251, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 310.270382670711, + -415.0343602719251, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 308.770382670711, + -417.6324364832784, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931957 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 292.0, + -428.0, + 45.9813 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-16-1_625843881/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-16-1_625843881/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6974e4eed33dcd17d90d82b56bb9e60dd3673e06 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-16-1_625843881/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -896.0070269025621, + -584.9763238995349, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -897.5070269025621, + -582.3782476881815, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -899.0070269025621, + -579.7801714768282, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -899.0070269025621, + -579.7801714768282, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -899.0070269025621, + -579.7801714768282, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897833 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -902.0070269025621, + -579.7801714768282, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -905.0070269025621, + -579.7801714768282, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -908.0070269025621, + -579.7801714768282, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -908.0070269025621, + -579.7801714768282, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -910.6051031139154, + -578.2801714768282, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -910.6051031139154, + -578.2801714768282, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -910.6051031139154, + -578.2801714768282, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.570796326794906 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -910.6051031139154, + -575.2801714768282, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -910.6051031139154, + -572.2801714768282, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -910.6051031139154, + -569.2801714768282, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -910.6051031139154, + -566.2801714768282, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -910.6051031139154, + -563.2801714768282, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -910.6051031139154, + -560.2801714768282, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -910.6051031139154, + -557.2801714768282, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -910.6051031139154, + -554.2801714768282, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -910.6051031139154, + -551.2801714768282, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -910.6051031139154, + -548.2801714768282, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -910.6051031139154, + -545.2801714768282, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -910.6051031139154, + -542.2801714768282, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -910.6051031139154, + -539.2801714768282, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -910.6051031139154, + -536.2801714768282, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -910.6051031139154, + -533.2801714768282, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -910.6051031139154, + -530.2801714768282, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -912.0, + -512.0, + 46.329 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-17-8_240854387/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-17-8_240854387/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..07944a16e65b304cdf983fa81aa777d12ee3e717 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-17-8_240854387/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1052.138975049389, + -51.89129870719595, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1050.638975049389, + -54.48937491854927, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1049.138975049389, + -57.08745112990258, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1047.638975049389, + -59.6855273412559, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1046.138975049389, + -62.283603552609215, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1044.638975049389, + -64.88167976396252, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965965 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1043.138975049389, + -67.47975597531584, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1043.138975049389, + -67.47975597531584, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1040.5408988380357, + -68.97975597531584, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1037.9428226266823, + -70.47975597531584, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1035.344746415329, + -71.97975597531584, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1032.7466702039756, + -73.47975597531584, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1030.1485939926222, + -74.97975597531584, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -996.0, + -108.0, + 73.4265 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-23-15_332702450/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-23-15_332702450/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cb2e5a2d3de56e8adf846cac662dcc48026a4b63 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-23-15_332702450/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -844.8744259123368, + -397.1687534222504, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -847.4725021236902, + -398.6687534222504, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -850.0705783350436, + -400.1687534222504, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -852.668654546397, + -401.6687534222504, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -855.2667307577503, + -403.1687534222504, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -857.8648069691037, + -404.6687534222504, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -860.4628831804571, + -406.1687534222504, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -863.0609593918105, + -407.6687534222504, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -865.6590356031638, + -409.1687534222504, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -868.2571118145172, + -410.6687534222504, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -870.8551880258706, + -412.1687534222504, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -873.453264237224, + -413.6687534222504, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -876.0513404485773, + -415.1687534222504, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -878.6494166599307, + -416.6687534222504, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -881.2474928712841, + -418.1687534222504, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -883.8455690826374, + -419.6687534222504, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -886.4436452939908, + -421.1687534222504, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -886.4436452939908, + -421.1687534222504, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -887.9436452939908, + -423.7668296336037, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -889.4436452939908, + -426.36490584495704, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -890.9436452939908, + -428.96298205631035, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -892.4436452939908, + -431.56105826766367, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -893.9436452939908, + -434.159134479017, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -895.4436452939908, + -436.7572106903703, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -896.9436452939908, + -439.3552869017236, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -898.4436452939908, + -441.95336311307693, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -899.9436452939908, + -444.55143932443025, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -916.0, + -460.0, + 33.629 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-24-45_1531585205/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-24-45_1531585205/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..685d4b8a2258d5ed26e5334edce38a24f49cc584 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-24-45_1531585205/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -704.0859885809693, + -361.4280545826852, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -707.0859885809693, + -361.4280545826852, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -710.0859885809693, + -361.4280545826852, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -713.0859885809693, + -361.4280545826852, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -716.0859885809693, + -361.4280545826852, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -719.0859885809693, + -361.4280545826852, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -722.0859885809693, + -361.4280545826852, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -725.0859885809693, + -361.4280545826852, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -728.0859885809693, + -361.4280545826852, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -731.0859885809693, + -361.4280545826852, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -731.0859885809693, + -361.4280545826852, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -733.6840647923227, + -359.9280545826852, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -736.2821410036761, + -358.4280545826852, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -738.8802172150295, + -356.9280545826852, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -741.4782934263828, + -355.4280545826852, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -784.0, + -344.0, + 33.629 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-29-7_1256273378/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-29-7_1256273378/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..297713fecb3ea68838a115d8787696ff49f229bd --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-29-7_1256273378/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -770.6691269295436, + -408.2289118562117, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -770.6691269295436, + -405.2289118562117, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -770.6691269295436, + -402.2289118562117, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -770.6691269295436, + -399.2289118562117, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -770.6691269295436, + -396.2289118562117, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -770.6691269295436, + -396.2289118562117, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -772.1691269295436, + -393.6308356448584, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -784.0, + -344.0, + 33.629 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-31-46_883799426/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-31-46_883799426/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..72798b15be6233cf9d237bc996eb0540e25dbcb1 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-31-46_883799426/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -930.6239944083267, + -359.2197414656952, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -929.1239944083267, + -361.81781767704854, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -927.6239944083267, + -364.41589388840185, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -926.1239944083267, + -367.01397009975517, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -924.6239944083267, + -369.6120463111085, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -923.1239944083267, + -372.2101225224618, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -921.6239944083267, + -374.8081987338151, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -920.1239944083267, + -377.40627494516843, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -920.1239944083267, + -377.40627494516843, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -917.5259181969734, + -378.90627494516843, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -914.92784198562, + -380.40627494516843, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -912.3297657742667, + -381.90627494516843, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -909.7316895629133, + -383.40627494516843, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -907.1336133515599, + -384.90627494516843, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -904.5355371402065, + -386.40627494516843, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -901.9374609288532, + -387.90627494516843, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -899.3393847174998, + -389.40627494516843, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -896.7413085061464, + -390.90627494516843, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -894.143232294793, + -392.40627494516843, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -891.5451560834397, + -393.90627494516843, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -891.5451560834397, + -393.90627494516843, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -890.0451560834397, + -396.50435115652175, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -1.047197551196588 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -876.0, + -412.0, + 41.6566 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-33-35_1569115921/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-33-35_1569115921/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1e09deb52f745beb57be6cabf9316c67788e6549 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-33-35_1569115921/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -11.275035934098554, + -136.03058324254832, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -14.275035934098554, + -136.03058324254832, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -17.275035934098554, + -136.03058324254832, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -20.275035934098554, + -136.03058324254832, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -23.275035934098554, + -136.03058324254832, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -26.275035934098554, + -136.03058324254832, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -29.275035934098554, + -136.03058324254832, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -32.275035934098554, + -136.03058324254832, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -35.275035934098554, + -136.03058324254832, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -38.275035934098554, + -136.03058324254832, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -41.275035934098554, + -136.03058324254832, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -44.275035934098554, + -136.03058324254832, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -47.275035934098554, + -136.03058324254832, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -50.275035934098554, + -136.03058324254832, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -53.275035934098554, + -136.03058324254832, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -56.275035934098554, + -136.03058324254832, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -59.275035934098554, + -136.03058324254832, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -100.0, + -136.0, + 43.732 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-35-54_86086317/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-35-54_86086317/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..77f488ccc4dab4b2846fc2c353be909d61f906f9 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-35-54_86086317/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -829.1798844489733, + -185.07069991397265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -826.1798844489733, + -185.07069991397265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -823.1798844489733, + -185.07069991397265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -820.1798844489733, + -185.07069991397265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -817.1798844489733, + -185.07069991397265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -814.1798844489733, + -185.07069991397265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -811.1798844489733, + -185.07069991397265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -808.1798844489733, + -185.07069991397265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -805.1798844489733, + -185.07069991397265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -802.1798844489733, + -185.07069991397265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -799.1798844489733, + -185.07069991397265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -796.1798844489733, + -185.07069991397265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -793.1798844489733, + -185.07069991397265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -790.1798844489733, + -185.07069991397265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -787.1798844489733, + -185.07069991397265, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -787.1798844489733, + -185.07069991397265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -784.58180823762, + -183.57069991397265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -781.9837320262666, + -182.07069991397265, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -764.0, + -180.0, + 33.629 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-36-6_1987106312/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-36-6_1987106312/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f3a26e3c624b1e676f0e9c9f411922704c4c21bd --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-36-6_1987106312/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -932.475604495329, + 45.94173602519932, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -929.475604495329, + 45.94173602519932, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -926.475604495329, + 45.94173602519932, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -923.475604495329, + 45.94173602519932, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -920.475604495329, + 45.94173602519932, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -917.475604495329, + 45.94173602519932, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -914.475604495329, + 45.94173602519932, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -914.475604495329, + 45.94173602519932, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -914.475604495329, + 45.94173602519932, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -912.975604495329, + 48.539812236552635, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -911.475604495329, + 51.13788844790595, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -909.975604495329, + 53.73596465925927, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -909.975604495329, + 53.73596465925927, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -907.3775282839756, + 55.23596465925927, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 0.523598775598299 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -876.0, + 68.0, + 45.9813 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-38-21_1907712995/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-38-21_1907712995/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bd009fcefc13c3e0710312cae7d7b3765107b871 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-38-21_1907712995/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -720.4394827752271, + -356.77980974721817, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -723.4394827752271, + -356.77980974721817, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -726.4394827752271, + -356.77980974721817, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -729.4394827752271, + -356.77980974721817, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -732.4394827752271, + -356.77980974721817, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -735.4394827752271, + -356.77980974721817, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -738.4394827752271, + -356.77980974721817, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -741.4394827752271, + -356.77980974721817, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -744.4394827752271, + -356.77980974721817, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -747.4394827752271, + -356.77980974721817, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -750.4394827752271, + -356.77980974721817, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -753.4394827752271, + -356.77980974721817, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -756.4394827752271, + -356.77980974721817, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -756.4394827752271, + -356.77980974721817, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -759.0375589865805, + -358.27980974721817, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -761.6356351979339, + -359.77980974721817, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -764.2337114092873, + -361.27980974721817, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -766.8317876206406, + -362.77980974721817, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -769.429863831994, + -364.27980974721817, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -772.0279400433474, + -365.77980974721817, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -796.0, + -372.0, + 91.3502 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-38-53_1047196295/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-38-53_1047196295/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..809a09492260d8f064cd5995dcdc50833d049964 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-38-53_1047196295/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1086.8405177960751, + -107.63223582431955, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1083.8405177960751, + -107.63223582431955, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1080.8405177960751, + -107.63223582431955, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1077.8405177960751, + -107.63223582431955, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1074.8405177960751, + -107.63223582431955, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1071.8405177960751, + -107.63223582431955, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1068.8405177960751, + -107.63223582431955, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1065.8405177960751, + -107.63223582431955, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1062.8405177960751, + -107.63223582431955, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1059.8405177960751, + -107.63223582431955, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1056.8405177960751, + -107.63223582431955, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1053.8405177960751, + -107.63223582431955, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1050.8405177960751, + -107.63223582431955, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1047.8405177960751, + -107.63223582431955, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1044.8405177960751, + -107.63223582431955, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1041.8405177960751, + -107.63223582431955, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1038.8405177960751, + -107.63223582431955, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1035.8405177960751, + -107.63223582431955, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1032.8405177960751, + -107.63223582431955, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1029.8405177960751, + -107.63223582431955, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1026.8405177960751, + -107.63223582431955, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1023.8405177960751, + -107.63223582431955, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1020.8405177960751, + -107.63223582431955, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1017.8405177960751, + -107.63223582431955, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1014.8405177960751, + -107.63223582431955, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1011.8405177960751, + -107.63223582431955, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1008.8405177960751, + -107.63223582431955, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -996.0, + -108.0, + 73.4265 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-4-57_572132557/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-4-57_572132557/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7033c505d81c9f3ee75104972258323d64adfd7b --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-4-57_572132557/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -13.851000821731205, + -127.60938790669131, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -16.851000821731205, + -127.60938790669131, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -19.851000821731205, + -127.60938790669131, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -22.851000821731205, + -127.60938790669131, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -25.851000821731205, + -127.60938790669131, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -28.851000821731205, + -127.60938790669131, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -31.851000821731205, + -127.60938790669131, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -34.851000821731205, + -127.60938790669131, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -37.851000821731205, + -127.60938790669131, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -40.851000821731205, + -127.60938790669131, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -43.851000821731205, + -127.60938790669131, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -46.851000821731205, + -127.60938790669131, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -49.851000821731205, + -127.60938790669131, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -52.851000821731205, + -127.60938790669131, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -55.851000821731205, + -127.60938790669131, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -58.851000821731205, + -127.60938790669131, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -61.851000821731205, + -127.60938790669131, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -104.0, + -128.0, + 43.732 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-45-24_1588695568/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-45-24_1588695568/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0b72d848287623cd798114519a71484376ff8f59 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-45-24_1588695568/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -965.7608071710803, + -453.11446056677426, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -967.2608071710803, + -450.51638435542094, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -968.7608071710803, + -447.9183081440676, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -968.7608071710803, + -447.9183081440676, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -971.3588833824335, + -446.4183081440676, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -973.9569595937869, + -444.9183081440676, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -976.5550358051403, + -443.4183081440676, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -979.1531120164937, + -441.9183081440676, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -981.751188227847, + -440.4183081440676, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -984.3492644392004, + -438.9183081440676, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -986.9473406505538, + -437.4183081440676, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -989.5454168619071, + -435.9183081440676, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -992.1434930732605, + -434.4183081440676, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -994.7415692846139, + -432.9183081440676, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -997.3396454959673, + -431.4183081440676, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -999.9377217073206, + -429.9183081440676, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1002.535797918674, + -428.4183081440676, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1005.1338741300274, + -426.9183081440676, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1007.7319503413808, + -425.4183081440676, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1010.3300265527341, + -423.9183081440676, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1012.9281027640875, + -422.4183081440676, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1015.5261789754409, + -420.9183081440676, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1015.5261789754409, + -420.9183081440676, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1018.5261789754409, + -420.9183081440676, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1021.5261789754409, + -420.9183081440676, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1044.0, + -408.0, + 62.9925 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-46-31_1582482437/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-46-31_1582482437/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..29da7128166509ae2ce7b35fac9e14744eed8f9a --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-46-31_1582482437/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1214.9812230412006, + 8.041721746944011, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1211.9812230412006, + 8.041721746944011, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1208.9812230412006, + 8.041721746944011, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1205.9812230412006, + 8.041721746944011, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1202.9812230412006, + 8.041721746944011, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1199.9812230412006, + 8.041721746944011, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1196.9812230412006, + 8.041721746944011, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1193.9812230412006, + 8.041721746944011, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1190.9812230412006, + 8.041721746944011, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1187.9812230412006, + 8.041721746944011, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1184.9812230412006, + 8.041721746944011, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1181.9812230412006, + 8.041721746944011, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1178.9812230412006, + 8.041721746944011, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1175.9812230412006, + 8.041721746944011, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1172.9812230412006, + 8.041721746944011, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1169.9812230412006, + 8.041721746944011, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1166.9812230412006, + 8.041721746944011, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1166.9812230412006, + 8.041721746944011, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1164.3831468298472, + 6.541721746944011, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1161.7850706184938, + 5.041721746944011, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1159.1869944071404, + 3.5417217469440114, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1132.0, + 0.0, + 45.9813 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-46-59_1642663198/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-46-59_1642663198/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2a7a3083fa7e403908ed8de843037680fc2c533f --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-46-59_1642663198/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -91.97721153195214, + -16.9459254032676, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -89.37913532059882, + -18.4459254032676, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -86.7810591092455, + -19.9459254032676, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -84.18298289789219, + -21.4459254032676, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -81.58490668653887, + -22.9459254032676, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -78.98683047518556, + -24.4459254032676, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -76.38875426383224, + -25.9459254032676, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -73.79067805247892, + -27.4459254032676, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -71.19260184112561, + -28.9459254032676, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -68.59452562977229, + -30.4459254032676, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -68.59452562977229, + -30.4459254032676, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -67.09452562977229, + -33.04400161462092, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -65.59452562977229, + -35.64207782597423, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -64.09452562977229, + -38.24015403732755, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -62.59452562977229, + -40.838230248680865, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -61.09452562977229, + -43.43630646003418, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -59.59452562977229, + -46.0343826713875, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -58.09452562977229, + -48.63245888274081, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -56.59452562977229, + -51.23053509409413, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -55.09452562977229, + -53.828611305447446, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -53.59452562977229, + -56.42668751680076, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -52.09452562977229, + -59.02476372815408, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -32.0, + -76.0, + 46.3108 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-47-59_181226513/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-47-59_181226513/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..273c423fed56ebaad183640f776512fa8b8c08b3 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-47-59_181226513/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -731.3545871472471, + -128.3458816518127, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -732.8545871472471, + -130.94395786316602, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -734.3545871472471, + -133.54203407451934, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -735.8545871472471, + -136.14011028587265, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -737.3545871472471, + -138.73818649722597, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -738.8545871472471, + -141.33626270857928, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -740.3545871472471, + -143.9343389199326, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -741.8545871472471, + -146.53241513128592, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -743.3545871472471, + -149.13049134263923, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -744.8545871472471, + -151.72856755399255, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -746.3545871472471, + -154.32664376534586, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -747.8545871472471, + -156.92471997669918, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -749.3545871472471, + -159.5227961880525, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -750.8545871472471, + -162.1208723994058, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -752.3545871472471, + -164.71894861075913, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -753.8545871472471, + -167.31702482211244, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -764.0, + -180.0, + 33.629 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-5-9_461152493/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-5-9_461152493/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c503243f0120cbfb5403a362859c78235f99b5bf --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-5-9_461152493/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -856.5392884665965, + -310.88648178063795, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -856.5392884665965, + -313.88648178063795, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -856.5392884665965, + -316.88648178063795, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -856.5392884665965, + -319.88648178063795, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -856.5392884665965, + -322.88648178063795, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -856.5392884665965, + -325.88648178063795, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -856.5392884665965, + -328.88648178063795, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -856.5392884665965, + -331.88648178063795, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -856.5392884665965, + -334.88648178063795, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -856.5392884665965, + -337.88648178063795, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -856.5392884665965, + -337.88648178063795, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -855.0392884665965, + -340.48455799199127, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -853.5392884665965, + -343.0826342033446, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -852.0392884665965, + -345.6807104146979, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -844.0, + -376.0, + 33.779 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-51-1_877068972/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-51-1_877068972/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..87555f3ac80dc3a697f23cff61b2330d3d9de3d6 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-51-1_877068972/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -70.71851663433102, + -7.306161512210608, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -69.21851663433102, + -9.904237723563924, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -67.71851663433102, + -12.50231393491724, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -66.21851663433102, + -15.100390146270556, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -64.71851663433102, + -17.69846635762387, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -63.218516634331024, + -20.296542568977188, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -61.718516634331024, + -22.894618780330504, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -60.218516634331024, + -25.49269499168382, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -58.718516634331024, + -28.090771203037136, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -57.218516634331024, + -30.68884741439045, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -55.718516634331024, + -33.28692362574377, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -54.218516634331024, + -35.884999837097084, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -52.718516634331024, + -38.4830760484504, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -51.218516634331024, + -41.081152259803716, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -49.718516634331024, + -43.67922847115703, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -48.218516634331024, + -46.27730468251035, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -46.718516634331024, + -48.875380893863664, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -32.0, + -76.0, + 46.3108 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-54-4_78417603/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-54-4_78417603/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..49dcda9590bdee6512da085d7bbd32f2c8957065 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-54-4_78417603/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -929.214045103811, + -351.3706093198539, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -929.214045103811, + -348.3706093198539, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -929.214045103811, + -345.3706093198539, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -929.214045103811, + -342.3706093198539, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -929.214045103811, + -339.3706093198539, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -929.214045103811, + -336.3706093198539, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -929.214045103811, + -333.3706093198539, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -929.214045103811, + -330.3706093198539, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -929.214045103811, + -327.3706093198539, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -929.214045103811, + -324.3706093198539, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -929.214045103811, + -321.3706093198539, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -929.214045103811, + -318.3706093198539, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -929.214045103811, + -318.3706093198539, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -929.214045103811, + -318.3706093198539, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -926.6159688924577, + -316.8706093198539, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -924.0178926811043, + -315.3706093198539, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -921.4198164697509, + -313.8706093198539, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -918.8217402583975, + -312.3706093198539, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -916.2236640470442, + -310.8706093198539, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -913.6255878356908, + -309.3706093198539, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -900.0, + -280.0, + 120.431 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-55-26_888482339/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-55-26_888482339/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b3909317b064a9fe21e82d47603b618203a3b7b1 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-55-26_888482339/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 60.705601333753776, + 10.48823940557611, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 60.705601333753776, + 7.48823940557611, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 60.705601333753776, + 4.48823940557611, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 60.705601333753776, + 1.4882394055761097, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 60.705601333753776, + -1.5117605944238903, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 60.705601333753776, + -4.51176059442389, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 60.705601333753776, + -7.51176059442389, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 60.705601333753776, + -10.51176059442389, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 60.705601333753776, + -13.51176059442389, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 60.705601333753776, + -16.51176059442389, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 60.705601333753776, + -19.51176059442389, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 60.705601333753776, + -22.51176059442389, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 60.705601333753776, + -25.51176059442389, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 60.705601333753776, + -28.51176059442389, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 60.705601333753776, + -28.51176059442389, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 59.205601333753776, + -31.109836805777206, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 57.705601333753776, + -33.70791301713052, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 56.205601333753776, + -36.30598922848384, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 54.705601333753776, + -38.904065439837154, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 53.205601333753776, + -41.50214165119047, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 51.705601333753776, + -44.100217862543786, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 50.205601333753776, + -46.6982940738971, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 48.705601333753776, + -49.29637028525042, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 47.205601333753776, + -51.894446496603734, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 45.705601333753776, + -54.49252270795705, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 44.205601333753776, + -57.09059891931037, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 42.705601333753776, + -59.68867513066368, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 41.205601333753776, + -62.286751342017, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 39.705601333753776, + -64.88482755337031, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 38.205601333753776, + -67.48290376472363, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 36.705601333753776, + -70.08097997607695, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.0, + -84.0, + 79.2117 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-6-27_1259577690/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-6-27_1259577690/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..73f9985ce8f56bd79332d29926906d1c48b09ce7 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-6-27_1259577690/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1036.8112549758491, + -485.0570315998831, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1036.8112549758491, + -482.0570315998831, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1036.8112549758491, + -479.0570315998831, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1036.8112549758491, + -476.0570315998831, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1036.8112549758491, + -473.0570315998831, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1036.8112549758491, + -470.0570315998831, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1036.8112549758491, + -467.0570315998831, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1036.8112549758491, + -464.0570315998831, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1036.8112549758491, + -461.0570315998831, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1036.8112549758491, + -458.0570315998831, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1036.8112549758491, + -455.0570315998831, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1036.8112549758491, + -452.0570315998831, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1036.8112549758491, + -449.0570315998831, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1036.8112549758491, + -446.0570315998831, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1036.8112549758491, + -443.0570315998831, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1036.8112549758491, + -440.0570315998831, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1036.8112549758491, + -437.0570315998831, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1036.8112549758491, + -437.0570315998831, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1038.3112549758491, + -434.4589553885298, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1039.8112549758491, + -431.86087917717646, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1044.0, + -408.0, + 62.9925 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-9-37_1146137088/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-9-37_1146137088/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..14683405dfb723a32f13516d1d3cc03a82fa79d5 --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-9-37_1146137088/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 124.35156339353746, + -347.3769555159334, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 127.35156339353746, + -347.3769555159334, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 130.35156339353745, + -347.3769555159334, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 133.35156339353745, + -347.3769555159334, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 136.35156339353745, + -347.3769555159334, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 139.35156339353745, + -347.3769555159334, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 142.35156339353745, + -347.3769555159334, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 145.35156339353745, + -347.3769555159334, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 148.35156339353745, + -347.3769555159334, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 151.35156339353745, + -347.3769555159334, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 154.35156339353745, + -347.3769555159334, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 157.35156339353745, + -347.3769555159334, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 160.35156339353745, + -347.3769555159334, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 163.35156339353745, + -347.3769555159334, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 166.35156339353745, + -347.3769555159334, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 169.35156339353745, + -347.3769555159334, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 172.35156339353745, + -347.3769555159334, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 175.35156339353745, + -347.3769555159334, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 178.35156339353745, + -347.3769555159334, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 181.35156339353745, + -347.3769555159334, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 184.35156339353745, + -347.3769555159334, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 187.35156339353745, + -347.3769555159334, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 190.35156339353745, + -347.3769555159334, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 193.35156339353745, + -347.3769555159334, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 196.35156339353745, + -347.3769555159334, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 199.35156339353745, + -347.3769555159334, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 216.0, + -348.0, + 43.7495 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_17-10-12_609707131/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_17-10-12_609707131/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ee5be753f923a2db4a60dfebb052925ac50dcdfd --- /dev/null +++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_17-10-12_609707131/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1281.3924827213145, + -252.93242295969898, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1278.3924827213145, + -252.93242295969898, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1275.3924827213145, + -252.93242295969898, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1272.3924827213145, + -252.93242295969898, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1269.3924827213145, + -252.93242295969898, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1266.3924827213145, + -252.93242295969898, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1263.3924827213145, + -252.93242295969898, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1260.3924827213145, + -252.93242295969898, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1257.3924827213145, + -252.93242295969898, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1254.3924827213145, + -252.93242295969898, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1251.3924827213145, + -252.93242295969898, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1248.3924827213145, + -252.93242295969898, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1245.3924827213145, + -252.93242295969898, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1242.3924827213145, + -252.93242295969898, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1239.3924827213145, + -252.93242295969898, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1236.3924827213145, + -252.93242295969898, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1233.3924827213145, + -252.93242295969898, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1230.3924827213145, + -252.93242295969898, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1227.3924827213145, + -252.93242295969898, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1227.3924827213145, + -252.93242295969898, + 45.08563280908995 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1227.3924827213145, + -252.93242295969898, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1225.8924827213145, + -255.5304991710523, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1224.3924827213145, + -258.12857538240564, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966025 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1222.8924827213145, + -260.72665159375896, + 45.08563280908995 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1222.8924827213145, + -260.72665159375896, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1220.2944065099612, + -262.22665159375896, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1217.6963302986078, + -263.72665159375896, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1215.0982540872544, + -265.22665159375896, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1212.500177875901, + -266.72665159375896, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1209.9021016645477, + -268.22665159375896, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1207.3040254531943, + -269.72665159375896, + 45.08563280908995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1204.705949241841, + -271.22665159375896, + 45.08563280908995 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1196.0, + -272.0, + 34.4509 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +}