diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-16-39_136495343/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-16-39_136495343/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a7b478876cf503bc91ead01c92bd30643883f03b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-16-39_136495343/pose.jsonl @@ -0,0 +1,222 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 738.1328050600648, + -89.64018474107324, + -5.485268066581219 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 735.5347288487114, + -88.14018474107324, + -5.485268066581219 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 732.9366526373581, + -86.64018474107324, + -5.485268066581219 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 730.3385764260047, + -85.14018474107324, + -5.485268066581219 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 727.7405002146513, + -83.64018474107324, + -5.485268066581219 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 725.142424003298, + -82.14018474107324, + -5.485268066581219 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 722.5443477919446, + -80.64018474107324, + -5.485268066581219 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 719.9462715805912, + -79.14018474107324, + -5.485268066581219 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 717.3481953692378, + -77.64018474107324, + -5.485268066581219 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 717.3481953692378, + -77.64018474107324, + -5.485268066581219 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 714.3481953692378, + -77.64018474107324, + -5.485268066581219 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 711.3481953692378, + -77.64018474107324, + -5.485268066581219 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 708.3481953692378, + -77.64018474107324, + -5.485268066581219 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 705.3481953692378, + -77.64018474107324, + -5.485268066581219 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 702.3481953692378, + -77.64018474107324, + -5.485268066581219 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 699.3481953692378, + -77.64018474107324, + -5.485268066581219 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.9317680358887, + -69.13963012695314, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-22-38_1866000081/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-22-38_1866000081/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..04a065f0f685eaeb0d23c478ec4792dc6eaaf5a7 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-22-38_1866000081/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1446.2573418139823, + -165.9991331783187, + -3.3135582422822507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1443.659265602629, + -167.4991331783187, + -3.3135582422822507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1441.0611893912755, + -168.9991331783187, + -3.3135582422822507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1438.4631131799222, + -170.4991331783187, + -3.3135582422822507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1435.8650369685688, + -171.9991331783187, + -3.3135582422822507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1433.2669607572154, + -173.4991331783187, + -3.3135582422822507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1430.668884545862, + -174.9991331783187, + -3.3135582422822507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1428.0708083345087, + -176.4991331783187, + -3.3135582422822507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1425.4727321231553, + -177.9991331783187, + -3.3135582422822507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1422.874655911802, + -179.4991331783187, + -3.3135582422822507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1420.2765797004486, + -180.9991331783187, + -3.3135582422822507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1417.6785034890952, + -182.4991331783187, + -3.3135582422822507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1415.0804272777418, + -183.9991331783187, + -3.3135582422822507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1412.4823510663884, + -185.4991331783187, + -3.3135582422822507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1409.884274855035, + -186.9991331783187, + -3.3135582422822507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1407.2861986436817, + -188.4991331783187, + -3.3135582422822507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1404.6881224323283, + -189.9991331783187, + -3.3135582422822507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1402.090046220975, + -191.4991331783187, + -3.3135582422822507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1399.4919700096216, + -192.9991331783187, + -3.3135582422822507 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1399.4919700096216, + -192.9991331783187, + -3.3135582422822507 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1396.4919700096216, + -192.9991331783187, + -3.3135582422822507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1393.4919700096216, + -192.9991331783187, + -3.3135582422822507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1390.4919700096216, + -192.9991331783187, + -3.3135582422822507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1387.4919700096216, + -192.9991331783187, + -3.3135582422822507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1384.4919700096216, + -192.9991331783187, + -3.3135582422822507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1381.4919700096216, + -192.9991331783187, + -3.3135582422822507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1378.4919700096216, + -192.9991331783187, + -3.3135582422822507 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1378.4919700096216, + -192.9991331783187, + -3.3135582422822507 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1378.4919700096216, + -192.9991331783187, + -3.3135582422822507 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1376.9919700096216, + -195.597209389672, + -3.3135582422822507 + ], + "type": "stop", + "value": 0, + "yaw": 4.1887902047863905 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1374.3149368286133, + -198.07321910858155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-30-37_318561886/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-30-37_318561886/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9c20fb40f59dce0138a19340f146f084db0b6b83 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-30-37_318561886/pose.jsonl @@ -0,0 +1,222 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 875.9139059869917, + -463.5418474304889, + -1.7284095745536021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 874.4139059869917, + -460.94377121913556, + -1.7284095745536021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 872.9139059869917, + -458.34569500778224, + -1.7284095745536021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 871.4139059869917, + -455.7476187964289, + -1.7284095745536021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 869.9139059869917, + -453.1495425850756, + -1.7284095745536021 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 869.9139059869917, + -453.1495425850756, + -1.7284095745536021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 867.3158297756383, + -451.6495425850756, + -1.7284095745536021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 864.717753564285, + -450.1495425850756, + -1.7284095745536021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 862.1196773529316, + -448.6495425850756, + -1.7284095745536021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 859.5216011415782, + -447.1495425850756, + -1.7284095745536021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 856.9235249302249, + -445.6495425850756, + -1.7284095745536021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 854.3254487188715, + -444.1495425850756, + -1.7284095745536021 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 854.3254487188715, + -444.1495425850756, + -1.7284095745536021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 852.8254487188715, + -441.5514663737223, + -1.7284095745536021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 851.3254487188715, + -438.953390162369, + -1.7284095745536021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 849.8254487188715, + -436.35531395101566, + -1.7284095745536021 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 833.5786102294923, + -416.10598869323735, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-33-3_826047641/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-33-3_826047641/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..15a8a07edff9f16f34df73a03372c704391fc242 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-33-3_826047641/pose.jsonl @@ -0,0 +1,209 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 445.6953415567641, + -122.2845959029557, + -1.4299679024857568 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 443.0972653454108, + -120.7845959029557, + -1.4299679024857568 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 440.4991891340575, + -119.2845959029557, + -1.4299679024857568 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 437.90111292270416, + -117.7845959029557, + -1.4299679024857568 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 435.30303671135084, + -116.2845959029557, + -1.4299679024857568 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 432.7049604999975, + -114.7845959029557, + -1.4299679024857568 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 430.1068842886442, + -113.2845959029557, + -1.4299679024857568 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 427.5088080772909, + -111.7845959029557, + -1.4299679024857568 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 424.9107318659376, + -110.2845959029557, + -1.4299679024857568 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 422.31265565458426, + -108.7845959029557, + -1.4299679024857568 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 419.71457944323095, + -107.2845959029557, + -1.4299679024857568 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 419.71457944323095, + -107.2845959029557, + -1.4299679024857568 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 416.71457944323095, + -107.2845959029557, + -1.4299679024857568 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 413.71457944323095, + -107.2845959029557, + -1.4299679024857568 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 410.71457944323095, + -107.2845959029557, + -1.4299679024857568 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 375.30573921203614, + -93.86981248855591, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-40-13_1025533459/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-40-13_1025533459/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..358acb52b35d38047ac2da50ecec136e2ec85f93 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-40-13_1025533459/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1526.6917605765168, + 39.69017643344107, + -4.096398930787267 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1526.6917605765168, + 36.69017643344107, + -4.096398930787267 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1526.6917605765168, + 33.69017643344107, + -4.096398930787267 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1526.6917605765168, + 30.690176433441067, + -4.096398930787267 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1526.6917605765168, + 27.690176433441067, + -4.096398930787267 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1526.6917605765168, + 24.690176433441067, + -4.096398930787267 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1526.6917605765168, + 21.690176433441067, + -4.096398930787267 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1526.6917605765168, + 18.690176433441067, + -4.096398930787267 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1526.6917605765168, + 15.690176433441067, + -4.096398930787267 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1526.6917605765168, + 12.690176433441067, + -4.096398930787267 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1526.6917605765168, + 9.690176433441067, + -4.096398930787267 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1526.6917605765168, + 6.690176433441067, + -4.096398930787267 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1526.6917605765168, + 3.690176433441067, + -4.096398930787267 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1526.6917605765168, + 0.6901764334410672, + -4.096398930787267 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1526.6917605765168, + -2.309823566558933, + -4.096398930787267 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1526.6917605765168, + -5.309823566558933, + -4.096398930787267 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1526.6917605765168, + -8.309823566558933, + -4.096398930787267 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1526.6917605765168, + -11.309823566558933, + -4.096398930787267 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1526.6917605765168, + -11.309823566558933, + -4.096398930787267 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1525.1917605765168, + -13.907899777912249, + -4.096398930787267 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1523.6917605765168, + -16.505975989265565, + -4.096398930787267 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1522.1917605765168, + -19.10405220061888, + -4.096398930787267 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1520.6917605765168, + -21.702128411972197, + -4.096398930787267 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.3544021606447, + -28.02864229679108, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-49-27_1291554098/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-49-27_1291554098/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2ae2a11399eb7c80d1729e6fafca2e0d58e729f5 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-49-27_1291554098/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1371.5276464624988, + 83.22196866009205, + -5.442746389331999 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1374.5276464624988, + 83.22196866009205, + -5.442746389331999 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1377.5276464624988, + 83.22196866009205, + -5.442746389331999 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1380.5276464624988, + 83.22196866009205, + -5.442746389331999 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1383.5276464624988, + 83.22196866009205, + -5.442746389331999 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1386.5276464624988, + 83.22196866009205, + -5.442746389331999 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1389.5276464624988, + 83.22196866009205, + -5.442746389331999 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1392.5276464624988, + 83.22196866009205, + -5.442746389331999 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1395.5276464624988, + 83.22196866009205, + -5.442746389331999 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1398.5276464624988, + 83.22196866009205, + -5.442746389331999 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1401.5276464624988, + 83.22196866009205, + -5.442746389331999 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1404.5276464624988, + 83.22196866009205, + -5.442746389331999 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1407.5276464624988, + 83.22196866009205, + -5.442746389331999 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1410.5276464624988, + 83.22196866009205, + -5.442746389331999 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1413.5276464624988, + 83.22196866009205, + -5.442746389331999 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1416.5276464624988, + 83.22196866009205, + -5.442746389331999 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1419.5276464624988, + 83.22196866009205, + -5.442746389331999 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1422.5276464624988, + 83.22196866009205, + -5.442746389331999 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1425.5276464624988, + 83.22196866009205, + -5.442746389331999 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1425.5276464624988, + 83.22196866009205, + -5.442746389331999 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1425.5276464624988, + 83.22196866009205, + -5.442746389331999 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1427.0276464624988, + 80.62389244873873, + -5.442746389331999 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1428.5276464624988, + 78.02581623738541, + -5.442746389331999 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1430.0276464624988, + 75.4277400260321, + -5.442746389331999 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1432.5684967041016, + 76.17316565513612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-19-44_1761250573/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-19-44_1761250573/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..359890d10d2a46b2c9528e7f298072e4db5dd217 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-19-44_1761250573/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 303.24656078766725, + -219.53036485769783, + -8.116840024049766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 300.64848457631393, + -218.03036485769783, + -8.116840024049766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 298.0504083649606, + -216.53036485769783, + -8.116840024049766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 295.4523321536073, + -215.03036485769783, + -8.116840024049766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 292.854255942254, + -213.53036485769783, + -8.116840024049766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 290.25617973090067, + -212.03036485769783, + -8.116840024049766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 287.65810351954735, + -210.53036485769783, + -8.116840024049766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 285.06002730819404, + -209.03036485769783, + -8.116840024049766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 282.4619510968407, + -207.53036485769783, + -8.116840024049766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 279.8638748854874, + -206.03036485769783, + -8.116840024049766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 277.2657986741341, + -204.53036485769783, + -8.116840024049766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 274.6677224627808, + -203.03036485769783, + -8.116840024049766 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 274.6677224627808, + -203.03036485769783, + -8.116840024049766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 271.6677224627808, + -203.03036485769783, + -8.116840024049766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 268.6677224627808, + -203.03036485769783, + -8.116840024049766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 265.6677224627808, + -203.03036485769783, + -8.116840024049766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 262.6677224627808, + -203.03036485769783, + -8.116840024049766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 259.6677224627808, + -203.03036485769783, + -8.116840024049766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 256.6677224627808, + -203.03036485769783, + -8.116840024049766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 253.66772246278077, + -203.03036485769783, + -8.116840024049766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 250.66772246278077, + -203.03036485769783, + -8.116840024049766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 247.66772246278077, + -203.03036485769783, + -8.116840024049766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 244.66772246278077, + -203.03036485769783, + -8.116840024049766 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 241.1424083709717, + -202.41772613525393, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-44-33_1669475776/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-44-33_1669475776/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cd3787265f596b9b856b9c2ac308734b293c9ea5 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-44-33_1669475776/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 401.82139258685135, + -491.34935599402644, + -3.3994600185268444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 401.82139258685135, + -488.34935599402644, + -3.3994600185268444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 401.82139258685135, + -485.34935599402644, + -3.3994600185268444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 401.82139258685135, + -482.34935599402644, + -3.3994600185268444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 401.82139258685135, + -479.34935599402644, + -3.3994600185268444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 401.82139258685135, + -476.34935599402644, + -3.3994600185268444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 401.82139258685135, + -473.34935599402644, + -3.3994600185268444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 401.82139258685135, + -470.34935599402644, + -3.3994600185268444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 401.82139258685135, + -467.34935599402644, + -3.3994600185268444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 401.82139258685135, + -464.34935599402644, + -3.3994600185268444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 401.82139258685135, + -461.34935599402644, + -3.3994600185268444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 401.82139258685135, + -458.34935599402644, + -3.3994600185268444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 401.82139258685135, + -455.34935599402644, + -3.3994600185268444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 401.82139258685135, + -452.34935599402644, + -3.3994600185268444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 401.82139258685135, + -449.34935599402644, + -3.3994600185268444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 401.82139258685135, + -446.34935599402644, + -3.3994600185268444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 401.82139258685135, + -443.34935599402644, + -3.3994600185268444 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 401.82139258685135, + -443.34935599402644, + -3.3994600185268444 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 401.82139258685135, + -443.34935599402644, + -3.3994600185268444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 404.41946879820466, + -441.84935599402644, + -3.3994600185268444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 407.017545009558, + -440.34935599402644, + -3.3994600185268444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 409.6156212209113, + -438.84935599402644, + -3.3994600185268444 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 410.6194187164307, + -422.415909576416, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-56-41_1892430639/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-56-41_1892430639/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..478e1f6bbd7afdd3a8072ab48ca3d331edda4420 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-56-41_1892430639/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1262.008428138438, + 218.38723412859918, + -6.943707103816208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1265.008428138438, + 218.38723412859918, + -6.943707103816208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1268.008428138438, + 218.38723412859918, + -6.943707103816208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1271.008428138438, + 218.38723412859918, + -6.943707103816208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1274.008428138438, + 218.38723412859918, + -6.943707103816208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1277.008428138438, + 218.38723412859918, + -6.943707103816208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1280.008428138438, + 218.38723412859918, + -6.943707103816208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1283.008428138438, + 218.38723412859918, + -6.943707103816208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1286.008428138438, + 218.38723412859918, + -6.943707103816208 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1286.008428138438, + 218.38723412859918, + -6.943707103816208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1288.6065043497913, + 216.88723412859918, + -6.943707103816208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1291.2045805611447, + 215.38723412859918, + -6.943707103816208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1293.802656772498, + 213.88723412859918, + -6.943707103816208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1296.4007329838514, + 212.38723412859918, + -6.943707103816208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1298.9988091952048, + 210.88723412859918, + -6.943707103816208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1301.5968854065582, + 209.38723412859918, + -6.943707103816208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1304.1949616179115, + 207.88723412859918, + -6.943707103816208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1306.793037829265, + 206.38723412859918, + -6.943707103816208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1309.3911140406183, + 204.88723412859918, + -6.943707103816208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1311.9891902519716, + 203.38723412859918, + -6.943707103816208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1314.587266463325, + 201.88723412859918, + -6.943707103816208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1317.1853426746784, + 200.38723412859918, + -6.943707103816208 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1318.4154022216799, + 197.2680404663086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-28-9_18400960/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-28-9_18400960/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..44513256a59b04b8d0fad59f58bc8f965e69c386 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-28-9_18400960/pose.jsonl @@ -0,0 +1,92 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 476.55955460028423, + -173.26613696911429, + -0.32681619454072397 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 476.55955460028423, + -176.26613696911429, + -0.32681619454072397 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 476.55955460028423, + -179.26613696911429, + -0.32681619454072397 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 476.55955460028423, + -182.26613696911429, + -0.32681619454072397 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 476.55955460028423, + -182.26613696911429, + -0.32681619454072397 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 478.05955460028423, + -184.8642131804676, + -0.32681619454072397 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 485.3397609710694, + -231.23137340545657, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-37-22_1111088131/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-37-22_1111088131/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a07d9d8b9540d1d210e88f242897c69816543ead --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-37-22_1111088131/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1596.518385634559, + -150.12775163361084, + -9.088547888148483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1595.018385634559, + -147.52967542225753, + -9.088547888148483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1593.518385634559, + -144.9315992109042, + -9.088547888148483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1592.018385634559, + -142.3335229995509, + -9.088547888148483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1590.518385634559, + -139.73544678819758, + -9.088547888148483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1589.018385634559, + -137.13737057684426, + -9.088547888148483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1587.518385634559, + -134.53929436549095, + -9.088547888148483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1586.018385634559, + -131.94121815413763, + -9.088547888148483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1584.518385634559, + -129.3431419427843, + -9.088547888148483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1583.018385634559, + -126.745065731431, + -9.088547888148483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1581.518385634559, + -124.14698952007768, + -9.088547888148483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1580.018385634559, + -121.54891330872437, + -9.088547888148483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1578.518385634559, + -118.95083709737105, + -9.088547888148483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1577.018385634559, + -116.35276088601773, + -9.088547888148483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1575.518385634559, + -113.75468467466442, + -9.088547888148483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1574.018385634559, + -111.1566084633111, + -9.088547888148483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1572.518385634559, + -108.55853225195779, + -9.088547888148483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1571.018385634559, + -105.96045604060447, + -9.088547888148483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1569.518385634559, + -103.36237982925115, + -9.088547888148483 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1569.518385634559, + -103.36237982925115, + -9.088547888148483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1566.9203094232057, + -101.86237982925115, + -9.088547888148483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1564.3222332118523, + -100.36237982925115, + -9.088547888148483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1561.724157000499, + -98.86237982925115, + -9.088547888148483 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1559.5110931396484, + -96.07600393295289, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-8-8_1489001354/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-8-8_1489001354/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0f264966cd9007e6014cc7fdd8138e65fb9e99e6 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-8-8_1489001354/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1550.0596524592418, + -0.43372572021989875, + -5.248858009644557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1547.0596524592418, + -0.43372572021989836, + -5.248858009644557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1544.0596524592418, + -0.43372572021989797, + -5.248858009644557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1541.0596524592418, + -0.4337257202198976, + -5.248858009644557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1538.0596524592418, + -0.4337257202198972, + -5.248858009644557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1535.0596524592418, + -0.4337257202198968, + -5.248858009644557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1532.0596524592418, + -0.4337257202198964, + -5.248858009644557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1529.0596524592418, + -0.433725720219896, + -5.248858009644557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1526.0596524592418, + -0.43372572021989564, + -5.248858009644557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1523.0596524592418, + -0.43372572021989525, + -5.248858009644557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1520.0596524592418, + -0.43372572021989486, + -5.248858009644557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1517.0596524592418, + -0.4337257202198945, + -5.248858009644557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1514.0596524592418, + -0.4337257202198941, + -5.248858009644557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1511.0596524592418, + -0.4337257202198937, + -5.248858009644557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1508.0596524592418, + -0.4337257202198933, + -5.248858009644557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1505.0596524592418, + -0.4337257202198929, + -5.248858009644557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1502.0596524592418, + -0.43372572021989253, + -5.248858009644557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1499.0596524592418, + -0.43372572021989214, + -5.248858009644557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1496.0596524592418, + -0.43372572021989175, + -5.248858009644557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1493.0596524592418, + -0.43372572021989136, + -5.248858009644557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1490.0596524592418, + -0.433725720219891, + -5.248858009644557 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1490.0596524592418, + -0.433725720219891, + -5.248858009644557 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1487.4615762478884, + 1.0662742797801088, + -5.248858009644557 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1484.863500036535, + 2.5662742797801084, + -5.248858009644557 + ], + "type": "turn right", + "value": 30, + "yaw": 2.617993877991504 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1484.863500036535, + 2.5662742797801084, + -5.248858009644557 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932055 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1483.363500036535, + 5.164350491133424, + -5.248858009644557 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1481.863500036535, + 7.76242670248674, + -5.248858009644557 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1480.363500036535, + 10.360502913840056, + -5.248858009644557 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1477.724824523926, + 10.967879819869996, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-31-0_635723058/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-31-0_635723058/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..865276ba876f08eb4d4704fe023196847f893cb4 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-31-0_635723058/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -134.40509046436335, + -199.10469744177857, + -8.514113289989114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -137.00316667571667, + -197.60469744177857, + -8.514113289989114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -139.60124288707, + -196.10469744177857, + -8.514113289989114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -142.1993190984233, + -194.60469744177857, + -8.514113289989114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -144.79739530977662, + -193.10469744177857, + -8.514113289989114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -147.39547152112993, + -191.60469744177857, + -8.514113289989114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -149.99354773248325, + -190.10469744177857, + -8.514113289989114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -152.59162394383657, + -188.60469744177857, + -8.514113289989114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -155.18970015518988, + -187.10469744177857, + -8.514113289989114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -157.7877763665432, + -185.60469744177857, + -8.514113289989114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -160.38585257789651, + -184.10469744177857, + -8.514113289989114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -162.98392878924983, + -182.60469744177857, + -8.514113289989114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -165.58200500060315, + -181.10469744177857, + -8.514113289989114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -168.18008121195646, + -179.60469744177857, + -8.514113289989114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -170.77815742330978, + -178.10469744177857, + -8.514113289989114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -173.3762336346631, + -176.60469744177857, + -8.514113289989114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -175.9743098460164, + -175.10469744177857, + -8.514113289989114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -178.57238605736973, + -173.60469744177857, + -8.514113289989114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -181.17046226872304, + -172.10469744177857, + -8.514113289989114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -183.76853848007636, + -170.60469744177857, + -8.514113289989114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -186.36661469142967, + -169.10469744177857, + -8.514113289989114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -188.964690902783, + -167.60469744177857, + -8.514113289989114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -191.5627671141363, + -166.10469744177857, + -8.514113289989114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -194.16084332548962, + -164.60469744177857, + -8.514113289989114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -196.75891953684294, + -163.10469744177857, + -8.514113289989114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -199.35699574819625, + -161.60469744177857, + -8.514113289989114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -201.95507195954957, + -160.10469744177857, + -8.514113289989114 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-44-16_855636226/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-44-16_855636226/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e75131de9666aa3bdbf0ff67158ee8baf92f660c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-44-16_855636226/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 98.21220772012299, + 33.34377502370647, + -2.474248320743796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 95.61413150876967, + 31.84377502370647, + -2.474248320743796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 93.01605529741636, + 30.34377502370647, + -2.474248320743796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 90.41797908606304, + 28.84377502370647, + -2.474248320743796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 87.81990287470973, + 27.34377502370647, + -2.474248320743796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 85.22182666335641, + 25.84377502370647, + -2.474248320743796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 82.6237504520031, + 24.34377502370647, + -2.474248320743796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 80.02567424064978, + 22.84377502370647, + -2.474248320743796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 77.42759802929646, + 21.34377502370647, + -2.474248320743796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 74.82952181794315, + 19.84377502370647, + -2.474248320743796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 72.23144560658983, + 18.34377502370647, + -2.474248320743796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 69.63336939523651, + 16.84377502370647, + -2.474248320743796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 67.0352931838832, + 15.34377502370647, + -2.474248320743796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 64.43721697252988, + 13.84377502370647, + -2.474248320743796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 61.839140761176566, + 12.34377502370647, + -2.474248320743796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 59.24106454982325, + 10.84377502370647, + -2.474248320743796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 56.642988338469934, + 9.34377502370647, + -2.474248320743796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 54.04491212711662, + 7.8437750237064705, + -2.474248320743796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 51.4468359157633, + 6.3437750237064705, + -2.474248320743796 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 51.4468359157633, + 6.3437750237064705, + -2.474248320743796 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 48.4468359157633, + 6.3437750237064705, + -2.474248320743796 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 45.4468359157633, + 6.3437750237064705, + -2.474248320743796 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 42.4468359157633, + 6.3437750237064705, + -2.474248320743796 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 39.4468359157633, + 6.3437750237064705, + -2.474248320743796 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 36.4468359157633, + 6.3437750237064705, + -2.474248320743796 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 33.4468359157633, + 6.3437750237064705, + -2.474248320743796 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 31.950906944274905, + 5.022578048706055, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-52-34_269455306/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-52-34_269455306/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..83452d07783a1644bdd3397f3523d7513944e0fc --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-52-34_269455306/pose.jsonl @@ -0,0 +1,248 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 481.45167509065675, + -413.05067567178924, + -8.551830477827153 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 482.95167509065675, + -410.4525994604359, + -8.551830477827153 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 484.45167509065675, + -407.8545232490826, + -8.551830477827153 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 485.95167509065675, + -405.2564470377293, + -8.551830477827153 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 487.45167509065675, + -402.658370826376, + -8.551830477827153 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 488.95167509065675, + -400.06029461502266, + -8.551830477827153 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 490.45167509065675, + -397.46221840366934, + -8.551830477827153 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 491.95167509065675, + -394.864142192316, + -8.551830477827153 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 493.45167509065675, + -392.2660659809627, + -8.551830477827153 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 494.95167509065675, + -389.6679897696094, + -8.551830477827153 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 496.45167509065675, + -387.0699135582561, + -8.551830477827153 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 497.95167509065675, + -384.47183734690276, + -8.551830477827153 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 499.45167509065675, + -381.87376113554944, + -8.551830477827153 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 500.95167509065675, + -379.2756849241961, + -8.551830477827153 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 502.45167509065675, + -376.6776087128428, + -8.551830477827153 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 503.95167509065675, + -374.0795325014895, + -8.551830477827153 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 505.45167509065675, + -371.4814562901362, + -8.551830477827153 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 506.95167509065675, + -368.88338007878286, + -8.551830477827153 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 507.2775932312012, + -365.6789970397949, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-58-34_2147469841/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-58-34_2147469841/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..13d798aedc3f6e79a539dcf3cdf8bd1cdfaf3c37 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-58-34_2147469841/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -173.87186900694093, + -779.7817881436736, + -8.246085395224492 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -172.37186900694093, + -777.1837119323202, + -8.246085395224492 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -170.87186900694093, + -774.5856357209668, + -8.246085395224492 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -169.37186900694093, + -771.9875595096134, + -8.246085395224492 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -167.87186900694093, + -769.3894832982601, + -8.246085395224492 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -166.37186900694093, + -766.7914070869067, + -8.246085395224492 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -164.87186900694093, + -764.1933308755533, + -8.246085395224492 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -163.37186900694093, + -761.5952546642, + -8.246085395224492 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -161.87186900694093, + -758.9971784528466, + -8.246085395224492 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -160.37186900694093, + -756.3991022414932, + -8.246085395224492 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -158.87186900694093, + -753.8010260301398, + -8.246085395224492 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -157.37186900694093, + -751.2029498187865, + -8.246085395224492 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -155.87186900694093, + -748.6048736074331, + -8.246085395224492 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -155.87186900694093, + -748.6048736074331, + -8.246085395224492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -153.2737927955876, + -747.1048736074331, + -8.246085395224492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -150.6757165842343, + -745.6048736074331, + -8.246085395224492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -148.07764037288098, + -744.1048736074331, + -8.246085395224492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -145.47956416152766, + -742.6048736074331, + -8.246085395224492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -142.88148795017435, + -741.1048736074331, + -8.246085395224492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -140.28341173882103, + -739.6048736074331, + -8.246085395224492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -137.68533552746771, + -738.1048736074331, + -8.246085395224492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -135.0872593161144, + -736.6048736074331, + -8.246085395224492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -132.48918310476108, + -735.1048736074331, + -8.246085395224492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -129.89110689340777, + -733.6048736074331, + -8.246085395224492 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -130.4267204284668, + -730.7557357788087, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-0-21_8936987/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-0-21_8936987/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c80ebf7a452124cf8559087158017fe03cd26fa6 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-0-21_8936987/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 441.5192008629659, + 226.27149677013819, + -0.49213993178840276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 444.1172770743192, + 227.77149677013819, + -0.49213993178840276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 446.7153532856725, + 229.27149677013819, + -0.49213993178840276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 449.3134294970258, + 230.77149677013819, + -0.49213993178840276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 451.91150570837914, + 232.27149677013819, + -0.49213993178840276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 454.50958191973245, + 233.77149677013819, + -0.49213993178840276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 457.10765813108577, + 235.27149677013819, + -0.49213993178840276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 459.7057343424391, + 236.77149677013819, + -0.49213993178840276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 462.3038105537924, + 238.27149677013819, + -0.49213993178840276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 464.9018867651457, + 239.77149677013819, + -0.49213993178840276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 467.49996297649903, + 241.27149677013819, + -0.49213993178840276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 470.09803918785235, + 242.77149677013819, + -0.49213993178840276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 472.69611539920567, + 244.27149677013819, + -0.49213993178840276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 475.294191610559, + 245.77149677013819, + -0.49213993178840276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 477.8922678219123, + 247.27149677013819, + -0.49213993178840276 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 477.8922678219123, + 247.27149677013819, + -0.49213993178840276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 479.3922678219123, + 249.8695729814915, + -0.49213993178840276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 480.8922678219123, + 252.46764919284482, + -0.49213993178840276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 482.3922678219123, + 255.06572540419813, + -0.49213993178840276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 483.8922678219123, + 257.66380161555145, + -0.49213993178840276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 485.3922678219123, + 260.26187782690477, + -0.49213993178840276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 486.8922678219123, + 262.8599540382581, + -0.49213993178840276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 488.3922678219123, + 265.4580302496114, + -0.49213993178840276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 489.8922678219123, + 268.0561064609647, + -0.49213993178840276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 491.3922678219123, + 270.65418267231803, + -0.49213993178840276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 492.8922678219123, + 273.25225888367135, + -0.49213993178840276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 494.3922678219123, + 275.85033509502466, + -0.49213993178840276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 495.8922678219123, + 278.448411306378, + -0.49213993178840276 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 498.19472236633305, + 281.0884632110596, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-19-54_1884167637/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-19-54_1884167637/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e21e23b445989fc1618c05005b9641e43d78ae77 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-19-54_1884167637/pose.jsonl @@ -0,0 +1,196 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 975.8738199632384, + -310.7687007925443, + -5.571602950640514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 973.2757437518851, + -309.2687007925443, + -5.571602950640514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 970.6776675405317, + -307.7687007925443, + -5.571602950640514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 968.0795913291784, + -306.2687007925443, + -5.571602950640514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 965.481515117825, + -304.7687007925443, + -5.571602950640514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 962.8834389064716, + -303.2687007925443, + -5.571602950640514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 960.2853626951182, + -301.7687007925443, + -5.571602950640514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 957.6872864837649, + -300.2687007925443, + -5.571602950640514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 955.0892102724115, + -298.7687007925443, + -5.571602950640514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 952.4911340610581, + -297.2687007925443, + -5.571602950640514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 949.8930578497047, + -295.7687007925443, + -5.571602950640514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 947.2949816383514, + -294.2687007925443, + -5.571602950640514 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 947.2949816383514, + -294.2687007925443, + -5.571602950640514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 945.7949816383514, + -291.67062458119096, + -5.571602950640514 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393205 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 919.2332725524903, + -271.52674827575686, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-26-15_437116466/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-26-15_437116466/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5bdf1a5eb4d433ff7cbf31345c78da85267e798f --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-26-15_437116466/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -179.08417667441478, + -252.70351053269283, + -6.836578966979235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -176.48610046306146, + -254.20351053269283, + -6.836578966979235 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -176.48610046306146, + -254.20351053269283, + -6.836578966979235 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -174.98610046306146, + -256.8015867440462, + -6.836578966979235 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966025 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -173.48610046306146, + -259.3996629553995, + -6.836578966979235 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -171.98610046306146, + -261.9977391667528, + -6.836578966979235 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -171.98610046306146, + -261.9977391667528, + -6.836578966979235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -169.38802425170815, + -263.4977391667528, + -6.836578966979235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -166.78994804035483, + -264.9977391667528, + -6.836578966979235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -164.1918718290015, + -266.4977391667528, + -6.836578966979235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -161.5937956176482, + -267.9977391667528, + -6.836578966979235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -158.99571940629488, + -269.4977391667528, + -6.836578966979235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -156.39764319494157, + -270.9977391667528, + -6.836578966979235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -153.79956698358825, + -272.4977391667528, + -6.836578966979235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -151.20149077223493, + -273.9977391667528, + -6.836578966979235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -148.60341456088162, + -275.4977391667528, + -6.836578966979235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -146.0053383495283, + -276.9977391667528, + -6.836578966979235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -143.40726213817499, + -278.4977391667528, + -6.836578966979235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -140.80918592682167, + -279.9977391667528, + -6.836578966979235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -138.21110971546835, + -281.4977391667528, + -6.836578966979235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -135.61303350411504, + -282.9977391667528, + -6.836578966979235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -133.01495729276172, + -284.4977391667528, + -6.836578966979235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -130.4168810814084, + -285.9977391667528, + -6.836578966979235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -127.81880487005509, + -287.4977391667528, + -6.836578966979235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -125.22072865870177, + -288.9977391667528, + -6.836578966979235 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -122.89827556610108, + -288.4065223693848, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-28-7_349517445/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-28-7_349517445/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6270a1df782a74f588ff8bba6b3d942e02f8e5c4 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-28-7_349517445/pose.jsonl @@ -0,0 +1,261 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 293.8829650297032, + -209.8198648630608, + -3.298679689417048 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 290.8829650297032, + -209.8198648630608, + -3.298679689417048 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 287.8829650297032, + -209.8198648630608, + -3.298679689417048 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 284.8829650297032, + -209.8198648630608, + -3.298679689417048 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 281.8829650297032, + -209.8198648630608, + -3.298679689417048 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 278.8829650297032, + -209.8198648630608, + -3.298679689417048 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 275.8829650297032, + -209.8198648630608, + -3.298679689417048 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 272.8829650297032, + -209.8198648630608, + -3.298679689417048 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 269.8829650297032, + -209.8198648630608, + -3.298679689417048 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 266.8829650297032, + -209.8198648630608, + -3.298679689417048 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 263.8829650297032, + -209.8198648630608, + -3.298679689417048 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 260.8829650297032, + -209.8198648630608, + -3.298679689417048 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 257.8829650297032, + -209.8198648630608, + -3.298679689417048 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 257.8829650297032, + -209.8198648630608, + -3.298679689417048 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 255.28488881834988, + -208.3198648630608, + -3.298679689417048 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 252.68681260699657, + -206.8198648630608, + -3.298679689417048 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 250.08873639564325, + -205.3198648630608, + -3.298679689417048 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 247.49066018428994, + -203.8198648630608, + -3.298679689417048 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 244.89258397293662, + -202.3198648630608, + -3.298679689417048 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 241.1424083709717, + -202.41772613525393, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-3-17_1139901474/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-3-17_1139901474/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..048e18b24238553c8e11d315b38a79d9fe5f4bf2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-3-17_1139901474/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -262.0656087235449, + -116.66560018030327, + -6.232984084559882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -262.0656087235449, + -113.66560018030327, + -6.232984084559882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -262.0656087235449, + -110.66560018030327, + -6.232984084559882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -262.0656087235449, + -107.66560018030327, + -6.232984084559882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -262.0656087235449, + -104.66560018030327, + -6.232984084559882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -262.0656087235449, + -101.66560018030327, + -6.232984084559882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -262.0656087235449, + -98.66560018030327, + -6.232984084559882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -262.0656087235449, + -95.66560018030327, + -6.232984084559882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -262.0656087235449, + -92.66560018030327, + -6.232984084559882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -262.0656087235449, + -89.66560018030327, + -6.232984084559882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -262.0656087235449, + -86.66560018030327, + -6.232984084559882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -262.0656087235449, + -83.66560018030327, + -6.232984084559882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -262.0656087235449, + -80.66560018030327, + -6.232984084559882 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -262.0656087235449, + -80.66560018030327, + -6.232984084559882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -260.5656087235449, + -78.06752396894996, + -6.232984084559882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -259.0656087235449, + -75.46944775759664, + -6.232984084559882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -257.5656087235449, + -72.87137154624332, + -6.232984084559882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -256.0656087235449, + -70.27329533489001, + -6.232984084559882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -254.56560872354493, + -67.67521912353669, + -6.232984084559882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -253.06560872354493, + -65.07714291218338, + -6.232984084559882 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-35-31_1389867269/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-35-31_1389867269/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1b8f157474fbfc82154393846f7bffe678e7b286 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-35-31_1389867269/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 293.2811429025461, + -447.7258167476309, + -5.4340906085424825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 293.2811429025461, + -450.7258167476309, + -5.4340906085424825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 293.2811429025461, + -453.7258167476309, + -5.4340906085424825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 293.2811429025461, + -456.7258167476309, + -5.4340906085424825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 293.2811429025461, + -459.7258167476309, + -5.4340906085424825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 293.2811429025461, + -462.7258167476309, + -5.4340906085424825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 293.2811429025461, + -465.7258167476309, + -5.4340906085424825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 293.2811429025461, + -468.7258167476309, + -5.4340906085424825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 293.2811429025461, + -471.7258167476309, + -5.4340906085424825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 293.2811429025461, + -474.7258167476309, + -5.4340906085424825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 293.2811429025461, + -477.7258167476309, + -5.4340906085424825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 293.2811429025461, + -480.7258167476309, + -5.4340906085424825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 293.2811429025461, + -483.7258167476309, + -5.4340906085424825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 293.2811429025461, + -486.7258167476309, + -5.4340906085424825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 293.2811429025461, + -489.7258167476309, + -5.4340906085424825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 293.2811429025461, + -492.7258167476309, + -5.4340906085424825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 293.2811429025461, + -495.7258167476309, + -5.4340906085424825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 293.2811429025461, + -498.7258167476309, + -5.4340906085424825 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 293.2811429025461, + -498.7258167476309, + -5.4340906085424825 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 293.2811429025461, + -498.7258167476309, + -5.4340906085424825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 290.6830666911928, + -500.2258167476309, + -5.4340906085424825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 288.08499047983946, + -501.7258167476309, + -5.4340906085424825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 285.48691426848615, + -503.2258167476309, + -5.4340906085424825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 282.88883805713283, + -504.7258167476309, + -5.4340906085424825 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 283.3368732452393, + -507.865353012085, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-4-9_1239036029/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-4-9_1239036029/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..859e95848de25502ebc041378fcff82e2f772af4 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-4-9_1239036029/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -105.60063632195263, + -322.9678996533299, + -4.0547822466625725 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -103.00256011059932, + -324.4678996533299, + -4.0547822466625725 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -100.404483899246, + -325.9678996533299, + -4.0547822466625725 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -97.80640768789269, + -327.4678996533299, + -4.0547822466625725 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -95.20833147653937, + -328.9678996533299, + -4.0547822466625725 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -92.61025526518605, + -330.4678996533299, + -4.0547822466625725 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -90.01217905383274, + -331.9678996533299, + -4.0547822466625725 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -87.41410284247942, + -333.4678996533299, + -4.0547822466625725 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -84.8160266311261, + -334.9678996533299, + -4.0547822466625725 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -82.21795041977279, + -336.4678996533299, + -4.0547822466625725 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -79.61987420841947, + -337.9678996533299, + -4.0547822466625725 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -77.02179799706616, + -339.4678996533299, + -4.0547822466625725 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -74.42372178571284, + -340.9678996533299, + -4.0547822466625725 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -71.82564557435953, + -342.4678996533299, + -4.0547822466625725 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -69.22756936300621, + -343.9678996533299, + -4.0547822466625725 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -66.6294931516529, + -345.4678996533299, + -4.0547822466625725 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -64.03141694029958, + -346.9678996533299, + -4.0547822466625725 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -61.43334072894626, + -348.4678996533299, + -4.0547822466625725 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -58.83526451759295, + -349.9678996533299, + -4.0547822466625725 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -56.23718830623963, + -351.4678996533299, + -4.0547822466625725 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -53.639112094886315, + -352.9678996533299, + -4.0547822466625725 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -51.041035883533, + -354.4678996533299, + -4.0547822466625725 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -48.44295967217968, + -355.9678996533299, + -4.0547822466625725 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -45.84488346082637, + -357.4678996533299, + -4.0547822466625725 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -43.24680724947305, + -358.9678996533299, + -4.0547822466625725 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -40.648731038119735, + -360.4678996533299, + -4.0547822466625725 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -37.04707775115967, + -360.1783214569092, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-40-19_1566288819/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-40-19_1566288819/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..29f8abfb740fb02c7d3a2baa4784329fa8b68c60 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-40-19_1566288819/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 867.7501356569892, + 119.78341190322743, + -5.848255144869026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 865.1520594456358, + 118.28341190322743, + -5.848255144869026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 862.5539832342824, + 116.78341190322743, + -5.848255144869026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 859.9559070229291, + 115.28341190322743, + -5.848255144869026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 857.3578308115757, + 113.78341190322743, + -5.848255144869026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 854.7597546002223, + 112.28341190322743, + -5.848255144869026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 852.161678388869, + 110.78341190322743, + -5.848255144869026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 849.5636021775156, + 109.28341190322743, + -5.848255144869026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 846.9655259661622, + 107.78341190322743, + -5.848255144869026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 844.3674497548088, + 106.28341190322743, + -5.848255144869026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 841.7693735434555, + 104.78341190322743, + -5.848255144869026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 839.1712973321021, + 103.28341190322743, + -5.848255144869026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 836.5732211207487, + 101.78341190322743, + -5.848255144869026 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 836.5732211207487, + 101.78341190322743, + -5.848255144869026 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 833.5732211207487, + 101.78341190322743, + -5.848255144869026 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 830.5732211207487, + 101.78341190322743, + -5.848255144869026 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 827.5732211207487, + 101.78341190322743, + -5.848255144869026 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 824.5732211207487, + 101.78341190322743, + -5.848255144869026 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 821.5732211207487, + 101.78341190322743, + -5.848255144869026 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 818.5732211207487, + 101.78341190322743, + -5.848255144869026 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 815.5732211207487, + 101.78341190322743, + -5.848255144869026 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 812.5732211207487, + 101.78341190322743, + -5.848255144869026 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 793.9949005126954, + 95.9690920829773, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-46-38_114723506/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-46-38_114723506/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c23f75702d5b58d221711c1531f58acc78228e50 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-46-38_114723506/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 991.6837586560105, + -380.8174595298857, + -1.1175388543027562 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 989.0856824446571, + -382.3174595298857, + -1.1175388543027562 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 986.4876062333037, + -383.8174595298857, + -1.1175388543027562 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 983.8895300219503, + -385.3174595298857, + -1.1175388543027562 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 981.291453810597, + -386.8174595298857, + -1.1175388543027562 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 978.6933775992436, + -388.3174595298857, + -1.1175388543027562 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 976.0953013878902, + -389.8174595298857, + -1.1175388543027562 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 973.4972251765369, + -391.3174595298857, + -1.1175388543027562 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 970.8991489651835, + -392.8174595298857, + -1.1175388543027562 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 968.3010727538301, + -394.3174595298857, + -1.1175388543027562 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 965.7029965424767, + -395.8174595298857, + -1.1175388543027562 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 963.1049203311234, + -397.3174595298857, + -1.1175388543027562 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 960.50684411977, + -398.8174595298857, + -1.1175388543027562 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 960.50684411977, + -398.8174595298857, + -1.1175388543027562 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 957.50684411977, + -398.8174595298857, + -1.1175388543027562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 954.50684411977, + -398.8174595298857, + -1.1175388543027562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 951.50684411977, + -398.8174595298857, + -1.1175388543027562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 948.50684411977, + -398.8174595298857, + -1.1175388543027562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 945.50684411977, + -398.8174595298857, + -1.1175388543027562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 942.50684411977, + -398.8174595298857, + -1.1175388543027562 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 927.2414848327637, + -404.25602226257325, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-52-52_1886086990/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-52-52_1886086990/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9019aa90040d19fc2034e0295f7f5ccf4fa19a27 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-52-52_1886086990/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -130.21368272034655, + -599.8595985249372, + -3.806878423017058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -127.21368272034655, + -599.8595985249372, + -3.806878423017058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -124.21368272034655, + -599.8595985249372, + -3.806878423017058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -121.21368272034655, + -599.8595985249372, + -3.806878423017058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -118.21368272034655, + -599.8595985249372, + -3.806878423017058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -115.21368272034655, + -599.8595985249372, + -3.806878423017058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -112.21368272034655, + -599.8595985249372, + -3.806878423017058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -109.21368272034655, + -599.8595985249372, + -3.806878423017058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -106.21368272034655, + -599.8595985249372, + -3.806878423017058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -103.21368272034655, + -599.8595985249372, + -3.806878423017058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -100.21368272034655, + -599.8595985249372, + -3.806878423017058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -97.21368272034655, + -599.8595985249372, + -3.806878423017058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -94.21368272034655, + -599.8595985249372, + -3.806878423017058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -91.21368272034655, + -599.8595985249372, + -3.806878423017058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -88.21368272034655, + -599.8595985249372, + -3.806878423017058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -85.21368272034655, + -599.8595985249372, + -3.806878423017058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -82.21368272034655, + -599.8595985249372, + -3.806878423017058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -79.21368272034655, + -599.8595985249372, + -3.806878423017058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -76.21368272034655, + -599.8595985249372, + -3.806878423017058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -73.21368272034655, + -599.8595985249372, + -3.806878423017058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -70.21368272034655, + -599.8595985249372, + -3.806878423017058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -67.21368272034655, + -599.8595985249372, + -3.806878423017058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -64.21368272034655, + -599.8595985249372, + -3.806878423017058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -61.213682720346554, + -599.8595985249372, + -3.806878423017058 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -61.213682720346554, + -599.8595985249372, + -3.806878423017058 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -61.213682720346554, + -599.8595985249372, + -3.806878423017058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -59.713682720346554, + -602.4576747362905, + -3.806878423017058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -58.213682720346554, + -605.0557509476439, + -3.806878423017058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -56.713682720346554, + -607.6538271589973, + -3.806878423017058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -55.213682720346554, + -610.2519033703506, + -3.806878423017058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -53.713682720346554, + -612.849979581704, + -3.806878423017058 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -52.7497802734375, + -613.6590488433839, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-15-57_1708302647/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-15-57_1708302647/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e8a6d986d9da81a7f1bcb3c50d0693777c305b0d --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-15-57_1708302647/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 184.93537822151973, + -644.4856242413993, + -0.6622546155207267 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 187.93537822151973, + -644.4856242413993, + -0.6622546155207267 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 190.93537822151973, + -644.4856242413993, + -0.6622546155207267 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 193.93537822151973, + -644.4856242413993, + -0.6622546155207267 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 196.93537822151973, + -644.4856242413993, + -0.6622546155207267 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 199.93537822151973, + -644.4856242413993, + -0.6622546155207267 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 202.93537822151973, + -644.4856242413993, + -0.6622546155207267 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 205.93537822151973, + -644.4856242413993, + -0.6622546155207267 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 208.93537822151973, + -644.4856242413993, + -0.6622546155207267 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 211.93537822151973, + -644.4856242413993, + -0.6622546155207267 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 214.93537822151973, + -644.4856242413993, + -0.6622546155207267 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 217.93537822151973, + -644.4856242413993, + -0.6622546155207267 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 220.93537822151973, + -644.4856242413993, + -0.6622546155207267 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 223.93537822151973, + -644.4856242413993, + -0.6622546155207267 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 226.93537822151973, + -644.4856242413993, + -0.6622546155207267 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 226.93537822151973, + -644.4856242413993, + -0.6622546155207267 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 229.53345443287304, + -642.9856242413993, + -0.6622546155207267 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 232.13153064422636, + -641.4856242413993, + -0.6622546155207267 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 234.72960685557968, + -639.9856242413993, + -0.6622546155207267 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 237.327683066933, + -638.4856242413993, + -0.6622546155207267 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 237.59388580322266, + -636.861552810669, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-34-57_40610537/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-34-57_40610537/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ffd477519ed82ac842f6f0c74a236d9b09dc21be --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-34-57_40610537/pose.jsonl @@ -0,0 +1,248 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -175.77576180669692, + -480.6986852412014, + -4.277805235249412 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -177.27576180669692, + -478.1006090298481, + -4.277805235249412 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -178.77576180669692, + -475.5025328184948, + -4.277805235249412 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -180.27576180669692, + -472.90445660714147, + -4.277805235249412 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -181.77576180669692, + -470.30638039578815, + -4.277805235249412 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -183.27576180669692, + -467.70830418443484, + -4.277805235249412 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -184.77576180669692, + -465.1102279730815, + -4.277805235249412 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -186.27576180669692, + -462.5121517617282, + -4.277805235249412 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -187.77576180669692, + -459.9140755503749, + -4.277805235249412 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -189.27576180669692, + -457.3159993390216, + -4.277805235249412 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -190.77576180669692, + -454.71792312766826, + -4.277805235249412 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -192.27576180669692, + -452.11984691631494, + -4.277805235249412 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -193.77576180669692, + -449.5217707049616, + -4.277805235249412 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -195.27576180669692, + -446.9236944936083, + -4.277805235249412 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -196.77576180669692, + -444.325618282255, + -4.277805235249412 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -198.27576180669692, + -441.7275420709017, + -4.277805235249412 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -199.77576180669692, + -439.12946585954836, + -4.277805235249412 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -201.27576180669692, + -436.53138964819505, + -4.277805235249412 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -204.17917842864992, + -437.0482559204102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-36-48_962033002/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-36-48_962033002/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5e9023872efe2b4198b1d8f6d62795d85ac8498f --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-36-48_962033002/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 165.1585937114345, + -501.3803321522994, + -2.441505365859582 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 163.6585937114345, + -503.9784083636527, + -2.441505365859582 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 162.1585937114345, + -506.576484575006, + -2.441505365859582 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 160.6585937114345, + -509.17456078635934, + -2.441505365859582 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 159.1585937114345, + -511.77263699771265, + -2.441505365859582 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 157.6585937114345, + -514.370713209066, + -2.441505365859582 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 156.1585937114345, + -516.9687894204194, + -2.441505365859582 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 154.6585937114345, + -519.5668656317728, + -2.441505365859582 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 153.1585937114345, + -522.1649418431261, + -2.441505365859582 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 151.6585937114345, + -524.7630180544795, + -2.441505365859582 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 150.1585937114345, + -527.3610942658329, + -2.441505365859582 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 148.6585937114345, + -529.9591704771863, + -2.441505365859582 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 147.1585937114345, + -532.5572466885396, + -2.441505365859582 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 145.6585937114345, + -535.155322899893, + -2.441505365859582 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 144.1585937114345, + -537.7533991112464, + -2.441505365859582 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 144.1585937114345, + -537.7533991112464, + -2.441505365859582 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 141.56051750008118, + -539.2533991112464, + -2.441505365859582 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 138.96244128872786, + -540.7533991112464, + -2.441505365859582 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 136.36436507737454, + -542.2533991112464, + -2.441505365859582 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 133.76628886602123, + -543.7533991112464, + -2.441505365859582 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 131.1682126546679, + -545.2533991112464, + -2.441505365859582 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 128.5701364433146, + -546.7533991112464, + -2.441505365859582 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 127.09756164550782, + -547.6103538513185, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-37-37_2073785404/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-37-37_2073785404/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dfa9e7a06338d91197044738523977649ad1d0f9 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-37-37_2073785404/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 764.1291073448947, + -60.800947262407476, + -9.428852878958685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 762.6291073448947, + -58.20287105105416, + -9.428852878958685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 761.1291073448947, + -55.604794839700844, + -9.428852878958685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 759.6291073448947, + -53.00671862834753, + -9.428852878958685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 758.1291073448947, + -50.40864241699421, + -9.428852878958685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 756.6291073448947, + -47.810566205640896, + -9.428852878958685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 755.1291073448947, + -45.21248999428758, + -9.428852878958685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 753.6291073448947, + -42.614413782934264, + -9.428852878958685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 752.1291073448947, + -40.01633757158095, + -9.428852878958685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 750.6291073448947, + -37.41826136022763, + -9.428852878958685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 749.1291073448947, + -34.820185148874316, + -9.428852878958685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 747.6291073448947, + -32.222108937521, + -9.428852878958685 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 747.6291073448947, + -32.222108937521, + -9.428852878958685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 745.0310311335413, + -30.722108937521, + -9.428852878958685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 742.432954922188, + -29.222108937521, + -9.428852878958685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 739.8348787108346, + -27.722108937521, + -9.428852878958685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 737.2368024994812, + -26.222108937521, + -9.428852878958685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 734.6387262881278, + -24.722108937521, + -9.428852878958685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 732.0406500767745, + -23.222108937521, + -9.428852878958685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 729.4425738654211, + -21.722108937521, + -9.428852878958685 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 727.4186401367188, + -18.7204083442688, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-38-58_586235379/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-38-58_586235379/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eead9f2b9aa2e95b201a5e97c8516717c238c4e2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-38-58_586235379/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 817.6504068433214, + -329.42871260079386, + -0.7534753466505624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 820.6504068433214, + -329.42871260079386, + -0.7534753466505624 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 820.6504068433214, + -329.42871260079386, + -0.7534753466505624 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 820.6504068433214, + -329.42871260079386, + -0.7534753466505624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 822.1504068433214, + -326.83063638944054, + -0.7534753466505624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 823.6504068433214, + -324.2325601780872, + -0.7534753466505624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 825.1504068433214, + -321.6344839667339, + -0.7534753466505624 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 825.1504068433214, + -321.6344839667339, + -0.7534753466505624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 827.7484830546748, + -320.1344839667339, + -0.7534753466505624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 830.3465592660282, + -318.6344839667339, + -0.7534753466505624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 832.9446354773816, + -317.1344839667339, + -0.7534753466505624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 835.5427116887349, + -315.6344839667339, + -0.7534753466505624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 838.1407879000883, + -314.1344839667339, + -0.7534753466505624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 840.7388641114417, + -312.6344839667339, + -0.7534753466505624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 843.336940322795, + -311.1344839667339, + -0.7534753466505624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 845.9350165341484, + -309.6344839667339, + -0.7534753466505624 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 845.9350165341484, + -309.6344839667339, + -0.7534753466505624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 847.4350165341484, + -307.0364077553806, + -0.7534753466505624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 848.9350165341484, + -304.4383315440273, + -0.7534753466505624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 850.4350165341484, + -301.84025533267396, + -0.7534753466505624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 851.9350165341484, + -299.24217912132065, + -0.7534753466505624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 853.4350165341484, + -296.64410290996733, + -0.7534753466505624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 854.9350165341484, + -294.046026698614, + -0.7534753466505624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 856.4350165341484, + -291.4479504872607, + -0.7534753466505624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 857.9350165341484, + -288.8498742759074, + -0.7534753466505624 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 871.2010513305664, + -278.09218101501466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-47-3_1747844822/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-47-3_1747844822/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f243a2b6ed3f937eca6ef0602c5734df61809598 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-47-3_1747844822/pose.jsonl @@ -0,0 +1,66 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1385.6454264219142, + -128.74500933502986, + -5.676601056351728 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1385.6454264219142, + -125.74500933502986, + -5.676601056351728 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1385.6454264219142, + -122.74500933502986, + -5.676601056351728 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1385.6454264219142, + -119.74500933502986, + -5.676601056351728 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1381.41708984375, + -76.18637247085572, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-48-39_1502781486/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-48-39_1502781486/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b52ae17a305fcbd2d535857b18b11f6998842c13 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-48-39_1502781486/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -327.1647051727112, + -127.08317982510839, + -9.121258085483483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -325.6647051727112, + -129.68125603646172, + -9.121258085483483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -324.1647051727112, + -132.27933224781503, + -9.121258085483483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -322.6647051727112, + -134.87740845916835, + -9.121258085483483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -321.1647051727112, + -137.47548467052167, + -9.121258085483483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -319.6647051727112, + -140.07356088187498, + -9.121258085483483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -318.1647051727112, + -142.6716370932283, + -9.121258085483483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -316.6647051727112, + -145.26971330458161, + -9.121258085483483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -315.1647051727112, + -147.86778951593493, + -9.121258085483483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -313.6647051727112, + -150.46586572728825, + -9.121258085483483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -312.1647051727112, + -153.06394193864156, + -9.121258085483483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -310.6647051727112, + -155.66201814999488, + -9.121258085483483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -309.1647051727112, + -158.2600943613482, + -9.121258085483483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -307.6647051727112, + -160.8581705727015, + -9.121258085483483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -306.1647051727112, + -163.45624678405483, + -9.121258085483483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -304.6647051727112, + -166.05432299540814, + -9.121258085483483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -303.1647051727112, + -168.65239920676146, + -9.121258085483483 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -303.1647051727112, + -168.65239920676146, + -9.121258085483483 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -300.5666289613579, + -170.15239920676146, + -9.121258085483483 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -297.96855275000456, + -171.65239920676146, + -9.121258085483483 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -295.37047653865125, + -173.15239920676146, + -9.121258085483483 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -292.77240032729793, + -174.65239920676146, + -9.121258085483483 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -290.1743241159446, + -176.15239920676146, + -9.121258085483483 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -287.5762479045913, + -177.65239920676146, + -9.121258085483483 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -284.978171693238, + -179.15239920676146, + -9.121258085483483 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -282.38009548188467, + -180.65239920676146, + -9.121258085483483 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -279.78201927053135, + -182.15239920676146, + -9.121258085483483 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -279.78201927053135, + -182.15239920676146, + -9.121258085483483 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -279.78201927053135, + -182.15239920676146, + -9.121258085483483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -279.78201927053135, + -185.15239920676146, + -9.121258085483483 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -277.72470836639405, + -188.3509792327881, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-51-47_1738110294/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-51-47_1738110294/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d0802eb6835276f7244bd8ee2ceca9f62f6ec21b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-51-47_1738110294/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1348.5501010723885, + 132.6511558858432, + -8.370038039354018 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1347.0501010723885, + 135.2492320971965, + -8.370038039354018 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1345.5501010723885, + 137.84730830854983, + -8.370038039354018 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1344.0501010723885, + 140.44538451990314, + -8.370038039354018 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1342.5501010723885, + 143.04346073125646, + -8.370038039354018 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1341.0501010723885, + 145.64153694260978, + -8.370038039354018 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1339.5501010723885, + 148.2396131539631, + -8.370038039354018 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1338.0501010723885, + 150.8376893653164, + -8.370038039354018 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1336.5501010723885, + 153.43576557666972, + -8.370038039354018 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1335.0501010723885, + 156.03384178802304, + -8.370038039354018 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1333.5501010723885, + 158.63191799937636, + -8.370038039354018 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1332.0501010723885, + 161.22999421072967, + -8.370038039354018 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1330.5501010723885, + 163.828070422083, + -8.370038039354018 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1329.0501010723885, + 166.4261466334363, + -8.370038039354018 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1327.5501010723885, + 169.02422284478962, + -8.370038039354018 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1326.0501010723885, + 171.62229905614294, + -8.370038039354018 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1324.5501010723885, + 174.22037526749625, + -8.370038039354018 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1323.0501010723885, + 176.81845147884957, + -8.370038039354018 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1321.5501010723885, + 179.41652769020288, + -8.370038039354018 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1320.0501010723885, + 182.0146039015562, + -8.370038039354018 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1318.5501010723885, + 184.61268011290952, + -8.370038039354018 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1318.5501010723885, + 184.61268011290952, + -8.370038039354018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1318.5501010723885, + 187.61268011290952, + -8.370038039354018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1318.5501010723885, + 190.61268011290952, + -8.370038039354018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1318.5501010723885, + 193.61268011290952, + -8.370038039354018 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1318.4154022216799, + 197.2680404663086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-55-49_1022963858/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-55-49_1022963858/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b172e9204f83ebb76ae8c764fa6a2f9cd443ab40 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-55-49_1022963858/pose.jsonl @@ -0,0 +1,261 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1403.9434305108387, + -1.7746956573440684, + -6.71035467483051 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1402.4434305108387, + -4.372771868697384, + -6.71035467483051 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1400.9434305108387, + -6.9708480800507004, + -6.71035467483051 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1399.4434305108387, + -9.568924291404016, + -6.71035467483051 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1397.9434305108387, + -12.167000502757332, + -6.71035467483051 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1396.4434305108387, + -14.765076714110648, + -6.71035467483051 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1394.9434305108387, + -17.363152925463964, + -6.71035467483051 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1393.4434305108387, + -19.96122913681728, + -6.71035467483051 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1391.9434305108387, + -22.559305348170597, + -6.71035467483051 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1390.4434305108387, + -25.157381559523913, + -6.71035467483051 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1388.9434305108387, + -27.75545777087723, + -6.71035467483051 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1388.9434305108387, + -27.75545777087723, + -6.71035467483051 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1388.9434305108387, + -30.75545777087723, + -6.71035467483051 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1388.9434305108387, + -33.75545777087723, + -6.71035467483051 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1388.9434305108387, + -36.75545777087723, + -6.71035467483051 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1388.9434305108387, + -39.75545777087723, + -6.71035467483051 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1388.9434305108387, + -42.75545777087723, + -6.71035467483051 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1388.9434305108387, + -45.75545777087723, + -6.71035467483051 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1388.9434305108387, + -48.75545777087723, + -6.71035467483051 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1381.41708984375, + -76.18637247085572, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-20-55_11671338/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-20-55_11671338/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..82e5512a5474ce0658d8d00793ba5ef34b0379f5 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-20-55_11671338/pose.jsonl @@ -0,0 +1,209 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 793.7722782040391, + 22.219414129519592, + -8.298825613487198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 793.7722782040391, + 25.219414129519592, + -8.298825613487198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 793.7722782040391, + 28.219414129519592, + -8.298825613487198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 793.7722782040391, + 31.219414129519592, + -8.298825613487198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 793.7722782040391, + 34.21941412951959, + -8.298825613487198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 793.7722782040391, + 37.21941412951959, + -8.298825613487198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 793.7722782040391, + 40.21941412951959, + -8.298825613487198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 793.7722782040391, + 43.21941412951959, + -8.298825613487198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 793.7722782040391, + 46.21941412951959, + -8.298825613487198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 793.7722782040391, + 49.21941412951959, + -8.298825613487198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 793.7722782040391, + 52.21941412951959, + -8.298825613487198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 793.7722782040391, + 55.21941412951959, + -8.298825613487198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 793.7722782040391, + 58.21941412951959, + -8.298825613487198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 793.7722782040391, + 61.21941412951959, + -8.298825613487198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 793.7722782040391, + 64.21941412951959, + -8.298825613487198 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 793.9949005126954, + 95.9690920829773, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-21-59_1675575223/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-21-59_1675575223/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..38f37ba36dc7b5d8909b1d3dd52741720fd1a7c2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-21-59_1675575223/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 148.62913066831436, + -310.7477331053082, + -5.230303623436059 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 148.62913066831436, + -307.7477331053082, + -5.230303623436059 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 148.62913066831436, + -304.7477331053082, + -5.230303623436059 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 148.62913066831436, + -301.7477331053082, + -5.230303623436059 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 148.62913066831436, + -298.7477331053082, + -5.230303623436059 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 148.62913066831436, + -295.7477331053082, + -5.230303623436059 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 148.62913066831436, + -292.7477331053082, + -5.230303623436059 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 148.62913066831436, + -289.7477331053082, + -5.230303623436059 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 148.62913066831436, + -286.7477331053082, + -5.230303623436059 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 148.62913066831436, + -283.7477331053082, + -5.230303623436059 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 148.62913066831436, + -280.7477331053082, + -5.230303623436059 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 148.62913066831436, + -280.7477331053082, + -5.230303623436059 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 150.12913066831436, + -278.1496568939549, + -5.230303623436059 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 151.62913066831436, + -275.5515806826016, + -5.230303623436059 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 153.12913066831436, + -272.95350447124827, + -5.230303623436059 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 154.62913066831436, + -270.35542825989495, + -5.230303623436059 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 156.12913066831436, + -267.75735204854163, + -5.230303623436059 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 157.62913066831436, + -265.1592758371883, + -5.230303623436059 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 159.12913066831436, + -262.561199625835, + -5.230303623436059 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 160.62913066831436, + -259.9631234144817, + -5.230303623436059 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 162.22081546783448, + -258.53322582244874, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-22-11_1687776787/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-22-11_1687776787/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6a5bfb951cad0b01d1e7c6dc0dfe8d6f9dd5937b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-22-11_1687776787/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -414.5665854408564, + -89.47435413734391, + -8.47607836902341 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -411.5665854408564, + -89.47435413734391, + -8.47607836902341 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -408.5665854408564, + -89.47435413734391, + -8.47607836902341 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -405.5665854408564, + -89.47435413734391, + -8.47607836902341 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -402.5665854408564, + -89.47435413734391, + -8.47607836902341 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -399.5665854408564, + -89.47435413734391, + -8.47607836902341 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -396.5665854408564, + -89.47435413734391, + -8.47607836902341 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -393.5665854408564, + -89.47435413734391, + -8.47607836902341 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -390.5665854408564, + -89.47435413734391, + -8.47607836902341 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -387.5665854408564, + -89.47435413734391, + -8.47607836902341 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -384.5665854408564, + -89.47435413734391, + -8.47607836902341 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -381.5665854408564, + -89.47435413734391, + -8.47607836902341 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -378.5665854408564, + -89.47435413734391, + -8.47607836902341 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -375.5665854408564, + -89.47435413734391, + -8.47607836902341 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -372.5665854408564, + -89.47435413734391, + -8.47607836902341 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -369.5665854408564, + -89.47435413734391, + -8.47607836902341 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -366.5665854408564, + -89.47435413734391, + -8.47607836902341 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -363.5665854408564, + -89.47435413734391, + -8.47607836902341 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -360.5665854408564, + -89.47435413734391, + -8.47607836902341 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -357.5665854408564, + -89.47435413734391, + -8.47607836902341 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -354.5665854408564, + -89.47435413734391, + -8.47607836902341 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -351.5665854408564, + -89.47435413734391, + -8.47607836902341 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -348.5665854408564, + -89.47435413734391, + -8.47607836902341 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -345.5665854408564, + -89.47435413734391, + -8.47607836902341 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -342.5665854408564, + -89.47435413734391, + -8.47607836902341 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -339.5665854408564, + -89.47435413734391, + -8.47607836902341 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -336.5665854408564, + -89.47435413734391, + -8.47607836902341 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.7922431945801, + -91.63226652145386, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-27-7_209359415/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-27-7_209359415/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9de094c3dfae3e29eff4b861b86aa2e31e1788dc --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-27-7_209359415/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 172.22174559973706, + 164.0354197161313, + -0.5731132441907256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 169.22174559973706, + 164.0354197161313, + -0.5731132441907256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 166.22174559973706, + 164.0354197161313, + -0.5731132441907256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 163.22174559973706, + 164.0354197161313, + -0.5731132441907256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 160.22174559973706, + 164.0354197161313, + -0.5731132441907256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 157.22174559973706, + 164.0354197161313, + -0.5731132441907256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 154.22174559973706, + 164.0354197161313, + -0.5731132441907256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 151.22174559973706, + 164.0354197161313, + -0.5731132441907256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 148.22174559973706, + 164.0354197161313, + -0.5731132441907256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 145.22174559973706, + 164.0354197161313, + -0.5731132441907256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 142.22174559973706, + 164.0354197161313, + -0.5731132441907256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 139.22174559973706, + 164.0354197161313, + -0.5731132441907256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 136.22174559973706, + 164.0354197161313, + -0.5731132441907256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 133.22174559973706, + 164.0354197161313, + -0.5731132441907256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 130.22174559973706, + 164.0354197161313, + -0.5731132441907256 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 130.22174559973706, + 164.0354197161313, + -0.5731132441907256 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 127.62366938838375, + 165.5354197161313, + -0.5731132441907256 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 125.02559317703043, + 167.0354197161313, + -0.5731132441907256 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 122.42751696567711, + 168.5354197161313, + -0.5731132441907256 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 119.8294407543238, + 170.0354197161313, + -0.5731132441907256 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 117.23136454297048, + 171.5354197161313, + -0.5731132441907256 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 114.63328833161717, + 173.0354197161313, + -0.5731132441907256 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 112.03521212026385, + 174.5354197161313, + -0.5731132441907256 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.78504695892335, + 175.8657693862915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-38-42_610506582/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-38-42_610506582/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..67988c63ad4ba5b9a4f8fb1d64fc42ccc5b821e6 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-38-42_610506582/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 441.5981757371465, + -343.1642698333343, + -6.696123715820804 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 444.1962519484998, + -344.6642698333343, + -6.696123715820804 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 446.79432815985314, + -346.1642698333343, + -6.696123715820804 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 449.39240437120645, + -347.6642698333343, + -6.696123715820804 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 451.99048058255977, + -349.1642698333343, + -6.696123715820804 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 454.5885567939131, + -350.6642698333343, + -6.696123715820804 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 457.1866330052664, + -352.1642698333343, + -6.696123715820804 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 459.7847092166197, + -353.6642698333343, + -6.696123715820804 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 462.38278542797303, + -355.1642698333343, + -6.696123715820804 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 464.98086163932635, + -356.6642698333343, + -6.696123715820804 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 467.57893785067967, + -358.1642698333343, + -6.696123715820804 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 470.177014062033, + -359.6642698333343, + -6.696123715820804 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 472.7750902733863, + -361.1642698333343, + -6.696123715820804 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 475.3731664847396, + -362.6642698333343, + -6.696123715820804 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 477.97124269609293, + -364.1642698333343, + -6.696123715820804 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 477.97124269609293, + -364.1642698333343, + -6.696123715820804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 479.47124269609293, + -366.7623460446876, + -6.696123715820804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 480.97124269609293, + -369.3604222560409, + -6.696123715820804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 482.47124269609293, + -371.95849846739424, + -6.696123715820804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 483.97124269609293, + -374.55657467874755, + -6.696123715820804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 485.47124269609293, + -377.15465089010087, + -6.696123715820804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 486.97124269609293, + -379.7527271014542, + -6.696123715820804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 488.47124269609293, + -382.3508033128075, + -6.696123715820804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 489.97124269609293, + -384.9488795241608, + -6.696123715820804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 491.47124269609293, + -387.54695573551413, + -6.696123715820804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 492.97124269609293, + -390.14503194686745, + -6.696123715820804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 494.47124269609293, + -392.74310815822076, + -6.696123715820804 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 495.27006835937505, + -393.85822601318364, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-4-53_2059344234/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-4-53_2059344234/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..30cc0fb5b5f1a638f4fe5b233a1f40df8adfb0dd --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-4-53_2059344234/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 268.5152724844061, + -289.0398109083777, + -2.256948177360055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 270.0152724844061, + -291.63788711973103, + -2.256948177360055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 271.5152724844061, + -294.23596333108435, + -2.256948177360055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 273.0152724844061, + -296.83403954243767, + -2.256948177360055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 274.5152724844061, + -299.432115753791, + -2.256948177360055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 276.0152724844061, + -302.0301919651443, + -2.256948177360055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 277.5152724844061, + -304.6282681764976, + -2.256948177360055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 279.0152724844061, + -307.22634438785093, + -2.256948177360055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 280.5152724844061, + -309.82442059920425, + -2.256948177360055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 282.0152724844061, + -312.42249681055756, + -2.256948177360055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 283.5152724844061, + -315.0205730219109, + -2.256948177360055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 285.0152724844061, + -317.6186492332642, + -2.256948177360055 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 285.0152724844061, + -317.6186492332642, + -2.256948177360055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 285.0152724844061, + -320.6186492332642, + -2.256948177360055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 285.0152724844061, + -323.6186492332642, + -2.256948177360055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 285.0152724844061, + -326.6186492332642, + -2.256948177360055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 285.0152724844061, + -329.6186492332642, + -2.256948177360055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 285.0152724844061, + -332.6186492332642, + -2.256948177360055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 285.0152724844061, + -335.6186492332642, + -2.256948177360055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 285.0152724844061, + -338.6186492332642, + -2.256948177360055 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 284.2394945144654, + -340.45848770141606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-40-27_1390543437/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-40-27_1390543437/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..05622c3375701795101edf2a084297e242bcce08 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-40-27_1390543437/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1055.1540464838156, + -232.14894392736795, + -4.027886824387488 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1052.5559702724622, + -233.64894392736795, + -4.027886824387488 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1049.9578940611088, + -235.14894392736795, + -4.027886824387488 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1047.3598178497555, + -236.64894392736795, + -4.027886824387488 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1044.761741638402, + -238.14894392736795, + -4.027886824387488 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1042.1636654270487, + -239.64894392736795, + -4.027886824387488 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1039.5655892156954, + -241.14894392736795, + -4.027886824387488 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1036.967513004342, + -242.64894392736795, + -4.027886824387488 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1034.3694367929886, + -244.14894392736795, + -4.027886824387488 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1031.7713605816352, + -245.64894392736795, + -4.027886824387488 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1029.1732843702819, + -247.14894392736795, + -4.027886824387488 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1026.5752081589285, + -248.64894392736795, + -4.027886824387488 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1026.5752081589285, + -248.64894392736795, + -4.027886824387488 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1023.5752081589285, + -248.64894392736795, + -4.027886824387488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1020.5752081589285, + -248.64894392736795, + -4.027886824387488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1017.5752081589285, + -248.64894392736795, + -4.027886824387488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1014.5752081589285, + -248.64894392736795, + -4.027886824387488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1011.5752081589285, + -248.64894392736795, + -4.027886824387488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1008.5752081589285, + -248.64894392736795, + -4.027886824387488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1005.5752081589285, + -248.64894392736795, + -4.027886824387488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1002.5752081589285, + -248.64894392736795, + -4.027886824387488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 999.5752081589285, + -248.64894392736795, + -4.027886824387488 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 984.0259399414064, + -252.70955543518068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-40-40_216220853/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-40-40_216220853/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b53f60fd669d9d28d2d7b80045ce0958fa17a67a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-40-40_216220853/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 698.1143440754, + -91.88483056082822, + -8.496646905560501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 699.6143440754, + -89.2867543494749, + -8.496646905560501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 701.1143440754, + -86.68867813812159, + -8.496646905560501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 702.6143440754, + -84.09060192676827, + -8.496646905560501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 704.1143440754, + -81.49252571541496, + -8.496646905560501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 705.6143440754, + -78.89444950406164, + -8.496646905560501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 707.1143440754, + -76.29637329270832, + -8.496646905560501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 708.6143440754, + -73.69829708135501, + -8.496646905560501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 710.1143440754, + -71.10022087000169, + -8.496646905560501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 711.6143440754, + -68.50214465864838, + -8.496646905560501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 713.1143440754, + -65.90406844729506, + -8.496646905560501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 714.6143440754, + -63.305992235941744, + -8.496646905560501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 716.1143440754, + -60.70791602458843, + -8.496646905560501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 717.6143440754, + -58.10983981323511, + -8.496646905560501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 719.1143440754, + -55.511763601881796, + -8.496646905560501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 720.6143440754, + -52.91368739052848, + -8.496646905560501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 722.1143440754, + -50.315611179175164, + -8.496646905560501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 723.6143440754, + -47.71753496782185, + -8.496646905560501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 725.1143440754, + -45.11945875646853, + -8.496646905560501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 726.6143440754, + -42.521382545115216, + -8.496646905560501 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 726.6143440754, + -42.521382545115216, + -8.496646905560501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 726.6143440754, + -39.521382545115216, + -8.496646905560501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 726.6143440754, + -36.521382545115216, + -8.496646905560501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 726.6143440754, + -33.521382545115216, + -8.496646905560501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 726.6143440754, + -30.521382545115216, + -8.496646905560501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 726.6143440754, + -27.521382545115216, + -8.496646905560501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 726.6143440754, + -24.521382545115216, + -8.496646905560501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 726.6143440754, + -21.521382545115216, + -8.496646905560501 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 727.4186401367188, + -18.7204083442688, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-42-45_584522071/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-42-45_584522071/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2751ff4193b9b3ab0c17a4d546e7032a5d28f938 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-42-45_584522071/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 9.485621613225327, + -62.883988755607014, + -0.1328035699516068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 12.485621613225327, + -62.883988755607014, + -0.1328035699516068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 15.485621613225327, + -62.883988755607014, + -0.1328035699516068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 18.485621613225327, + -62.883988755607014, + -0.1328035699516068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 21.485621613225327, + -62.883988755607014, + -0.1328035699516068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 24.485621613225327, + -62.883988755607014, + -0.1328035699516068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 27.485621613225327, + -62.883988755607014, + -0.1328035699516068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 30.485621613225327, + -62.883988755607014, + -0.1328035699516068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 33.48562161322533, + -62.883988755607014, + -0.1328035699516068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 36.48562161322533, + -62.883988755607014, + -0.1328035699516068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 39.48562161322533, + -62.883988755607014, + -0.1328035699516068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 42.48562161322533, + -62.883988755607014, + -0.1328035699516068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 45.48562161322533, + -62.883988755607014, + -0.1328035699516068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 48.48562161322533, + -62.883988755607014, + -0.1328035699516068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 51.48562161322533, + -62.883988755607014, + -0.1328035699516068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 54.48562161322533, + -62.883988755607014, + -0.1328035699516068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 57.48562161322533, + -62.883988755607014, + -0.1328035699516068 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 57.48562161322533, + -62.883988755607014, + -0.1328035699516068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 60.08369782457864, + -61.383988755607014, + -0.1328035699516068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 62.68177403593196, + -59.883988755607014, + -0.1328035699516068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 65.27985024728528, + -58.383988755607014, + -0.1328035699516068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982977 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 67.8779264586386, + -56.883988755607014, + -0.1328035699516068 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982977 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 70.69211120605469, + -56.732511901855474, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-48-14_1736491298/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-48-14_1736491298/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9d80f84b6fadac47f7002f5bd18fe9a305b03554 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-48-14_1736491298/pose.jsonl @@ -0,0 +1,248 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 857.9808557336879, + 116.63940508246456, + -9.162272364930471 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 855.3827795223347, + 115.13940508246456, + -9.162272364930471 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 852.7847033109813, + 113.63940508246456, + -9.162272364930471 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 850.1866270996279, + 112.13940508246456, + -9.162272364930471 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 847.5885508882745, + 110.63940508246456, + -9.162272364930471 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 844.9904746769212, + 109.13940508246456, + -9.162272364930471 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 842.3923984655678, + 107.63940508246456, + -9.162272364930471 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 839.7943222542144, + 106.13940508246456, + -9.162272364930471 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 837.196246042861, + 104.63940508246456, + -9.162272364930471 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 834.5981698315077, + 103.13940508246456, + -9.162272364930471 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 834.5981698315077, + 103.13940508246456, + -9.162272364930471 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 831.5981698315077, + 103.13940508246456, + -9.162272364930471 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 828.5981698315077, + 103.13940508246456, + -9.162272364930471 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 825.5981698315077, + 103.13940508246456, + -9.162272364930471 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 822.5981698315077, + 103.13940508246456, + -9.162272364930471 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 819.5981698315077, + 103.13940508246456, + -9.162272364930471 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 816.5981698315077, + 103.13940508246456, + -9.162272364930471 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 813.5981698315077, + 103.13940508246456, + -9.162272364930471 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 793.9949005126954, + 95.9690920829773, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-49-18_2060975266/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-49-18_2060975266/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5016a685575870f4bd8957f736e8a73c0a6deda8 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-49-18_2060975266/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -104.7829901496396, + -600.8366764478635, + -5.561483729901502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -101.7829901496396, + -600.8366764478635, + -5.561483729901502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -98.7829901496396, + -600.8366764478635, + -5.561483729901502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -95.7829901496396, + -600.8366764478635, + -5.561483729901502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -92.7829901496396, + -600.8366764478635, + -5.561483729901502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -89.7829901496396, + -600.8366764478635, + -5.561483729901502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -86.7829901496396, + -600.8366764478635, + -5.561483729901502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -83.7829901496396, + -600.8366764478635, + -5.561483729901502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -80.7829901496396, + -600.8366764478635, + -5.561483729901502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -77.7829901496396, + -600.8366764478635, + -5.561483729901502 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -77.7829901496396, + -600.8366764478635, + -5.561483729901502 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -75.18491393828629, + -602.3366764478635, + -5.561483729901502 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -72.58683772693297, + -603.8366764478635, + -5.561483729901502 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -69.98876151557965, + -605.3366764478635, + -5.561483729901502 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -67.39068530422634, + -606.8366764478635, + -5.561483729901502 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -64.79260909287302, + -608.3366764478635, + -5.561483729901502 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -62.194532881519706, + -609.8366764478635, + -5.561483729901502 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -59.59645667016639, + -611.3366764478635, + -5.561483729901502 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -56.998380458813074, + -612.8366764478635, + -5.561483729901502 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -54.40030424745976, + -614.3366764478635, + -5.561483729901502 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -52.7497802734375, + -613.6590488433839, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-19-36_1176225844/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-19-36_1176225844/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b3c507b2817c9a7b9538a2481a993858a91ed3a6 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-19-36_1176225844/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -152.72532286498205, + -428.87670930112023, + -1.4053411332102268 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -155.72532286498205, + -428.87670930112023, + -1.4053411332102268 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -158.72532286498205, + -428.87670930112023, + -1.4053411332102268 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -161.72532286498205, + -428.87670930112023, + -1.4053411332102268 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -164.72532286498205, + -428.87670930112023, + -1.4053411332102268 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -167.72532286498205, + -428.87670930112023, + -1.4053411332102268 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -170.72532286498205, + -428.87670930112023, + -1.4053411332102268 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -173.72532286498205, + -428.87670930112023, + -1.4053411332102268 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -176.72532286498205, + -428.87670930112023, + -1.4053411332102268 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -179.72532286498205, + -428.87670930112023, + -1.4053411332102268 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -182.72532286498205, + -428.87670930112023, + -1.4053411332102268 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -185.72532286498205, + -428.87670930112023, + -1.4053411332102268 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -188.72532286498205, + -428.87670930112023, + -1.4053411332102268 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -191.72532286498205, + -428.87670930112023, + -1.4053411332102268 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -194.72532286498205, + -428.87670930112023, + -1.4053411332102268 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -194.72532286498205, + -428.87670930112023, + -1.4053411332102268 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -194.72532286498205, + -428.87670930112023, + -1.4053411332102268 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -196.22532286498205, + -431.47478551247355, + -1.4053411332102268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -197.72532286498205, + -434.07286172382686, + -1.4053411332102268 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -197.72532286498205, + -434.07286172382686, + -1.4053411332102268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -200.32339907633536, + -435.57286172382686, + -1.4053411332102268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -202.92147528768868, + -437.07286172382686, + -1.4053411332102268 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -204.17917842864992, + -437.0482559204102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-2-58_2058907361/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-2-58_2058907361/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..15f11d1d04bf1eda44acb042a3be045d51be14fa --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-2-58_2058907361/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 25.969629105869984, + -419.549602233903, + -7.811015850648711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 28.969629105869984, + -419.549602233903, + -7.811015850648711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 31.969629105869984, + -419.549602233903, + -7.811015850648711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 34.969629105869984, + -419.549602233903, + -7.811015850648711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 37.969629105869984, + -419.549602233903, + -7.811015850648711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 40.969629105869984, + -419.549602233903, + -7.811015850648711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 43.969629105869984, + -419.549602233903, + -7.811015850648711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 46.969629105869984, + -419.549602233903, + -7.811015850648711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 49.969629105869984, + -419.549602233903, + -7.811015850648711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 52.969629105869984, + -419.549602233903, + -7.811015850648711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 55.969629105869984, + -419.549602233903, + -7.811015850648711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 58.969629105869984, + -419.549602233903, + -7.811015850648711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 61.969629105869984, + -419.549602233903, + -7.811015850648711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 64.96962910586998, + -419.549602233903, + -7.811015850648711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 67.96962910586998, + -419.549602233903, + -7.811015850648711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 70.96962910586998, + -419.549602233903, + -7.811015850648711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 73.96962910586998, + -419.549602233903, + -7.811015850648711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 76.96962910586998, + -419.549602233903, + -7.811015850648711 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 76.96962910586998, + -419.549602233903, + -7.811015850648711 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 76.96962910586998, + -419.549602233903, + -7.811015850648711 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 78.46962910586998, + -416.9515260225497, + -7.811015850648711 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 79.96962910586998, + -414.35344981119636, + -7.811015850648711 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 81.46962910586998, + -411.75537359984304, + -7.811015850648711 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 82.96962910586998, + -409.1572973884897, + -7.811015850648711 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 82.96962910586998, + -409.1572973884897, + -7.811015850648711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 85.5677053172233, + -407.6572973884897, + -7.811015850648711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 88.16578152857662, + -406.1572973884897, + -7.811015850648711 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 90.3713176727295, + -405.9313674926758, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-25-19_1116945487/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-25-19_1116945487/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4fbde94e10a43fb57923a8d0ea92e4fd46290caf --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-25-19_1116945487/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1307.264906565492, + -61.47616858767354, + -2.093656301088358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1310.264906565492, + -61.47616858767354, + -2.093656301088358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1313.264906565492, + -61.47616858767354, + -2.093656301088358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1316.264906565492, + -61.47616858767354, + -2.093656301088358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1319.264906565492, + -61.47616858767354, + -2.093656301088358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1322.264906565492, + -61.47616858767354, + -2.093656301088358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1325.264906565492, + -61.47616858767354, + -2.093656301088358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1328.264906565492, + -61.47616858767354, + -2.093656301088358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1331.264906565492, + -61.47616858767354, + -2.093656301088358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1334.264906565492, + -61.47616858767354, + -2.093656301088358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1337.264906565492, + -61.47616858767354, + -2.093656301088358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1340.264906565492, + -61.47616858767354, + -2.093656301088358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1343.264906565492, + -61.47616858767354, + -2.093656301088358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1346.264906565492, + -61.47616858767354, + -2.093656301088358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1349.264906565492, + -61.47616858767354, + -2.093656301088358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1352.264906565492, + -61.47616858767354, + -2.093656301088358 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1352.264906565492, + -61.47616858767354, + -2.093656301088358 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1354.8629827768455, + -62.97616858767354, + -2.093656301088358 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1357.4610589881988, + -64.47616858767354, + -2.093656301088358 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1360.0591351995522, + -65.97616858767354, + -2.093656301088358 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1362.6572114109056, + -67.47616858767354, + -2.093656301088358 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1365.255287622259, + -68.97616858767354, + -2.093656301088358 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1367.8533638336123, + -70.47616858767354, + -2.093656301088358 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1370.4514400449657, + -71.97616858767354, + -2.093656301088358 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1381.41708984375, + -76.18637247085572, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-3-24_44041351/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-3-24_44041351/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cfa139f56b9f02b8a5d416d0fe4dbd4b53cb29f8 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-3-24_44041351/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 49.25125989513086, + -714.6671203244098, + -9.482002686112555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 46.25125989513086, + -714.6671203244098, + -9.482002686112555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 43.25125989513086, + -714.6671203244098, + -9.482002686112555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 40.25125989513086, + -714.6671203244098, + -9.482002686112555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 37.25125989513086, + -714.6671203244098, + -9.482002686112555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 34.25125989513086, + -714.6671203244098, + -9.482002686112555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 31.251259895130858, + -714.6671203244098, + -9.482002686112555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 28.251259895130858, + -714.6671203244098, + -9.482002686112555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 25.251259895130858, + -714.6671203244098, + -9.482002686112555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 22.251259895130858, + -714.6671203244098, + -9.482002686112555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 19.251259895130858, + -714.6671203244098, + -9.482002686112555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 16.251259895130858, + -714.6671203244098, + -9.482002686112555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 13.251259895130858, + -714.6671203244098, + -9.482002686112555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 10.251259895130858, + -714.6671203244098, + -9.482002686112555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 7.251259895130858, + -714.6671203244098, + -9.482002686112555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4.251259895130858, + -714.6671203244098, + -9.482002686112555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1.2512598951308576, + -714.6671203244098, + -9.482002686112555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1.7487401048691424, + -714.6671203244098, + -9.482002686112555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -4.748740104869142, + -714.6671203244098, + -9.482002686112555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -7.748740104869142, + -714.6671203244098, + -9.482002686112555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -10.748740104869142, + -714.6671203244098, + -9.482002686112555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -13.748740104869142, + -714.6671203244098, + -9.482002686112555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -16.748740104869142, + -714.6671203244098, + -9.482002686112555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -19.748740104869142, + -714.6671203244098, + -9.482002686112555 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -19.748740104869142, + -714.6671203244098, + -9.482002686112555 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -19.748740104869142, + -714.6671203244098, + -9.482002686112555 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -21.248740104869142, + -717.2651965357632, + -9.482002686112555 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -22.748740104869142, + -719.8632727471165, + -9.482002686112555 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -24.248740104869142, + -722.4613489584699, + -9.482002686112555 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-40-33_1514620094/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-40-33_1514620094/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..60b1fb34c93674b69894027e5141206214ac1df0 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-40-33_1514620094/pose.jsonl @@ -0,0 +1,92 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 218.64500264297692, + -83.2083262558708, + -5.631618704919294 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 221.64500264297692, + -83.2083262558708, + -5.631618704919294 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 224.64500264297692, + -83.2083262558708, + -5.631618704919294 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 227.64500264297692, + -83.2083262558708, + -5.631618704919294 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 230.64500264297692, + -83.2083262558708, + -5.631618704919294 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 233.64500264297692, + -83.2083262558708, + -5.631618704919294 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 283.9780300140381, + -80.94869422912598, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-49-3_1947691087/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-49-3_1947691087/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3a4c6d2ce98edb3ac40a212c9282242cb16cb064 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-49-3_1947691087/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1393.6891752444965, + 84.41135701167262, + -0.6951025062856111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1395.1891752444965, + 87.00943322302594, + -0.6951025062856111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1396.6891752444965, + 89.60750943437925, + -0.6951025062856111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1398.1891752444965, + 92.20558564573257, + -0.6951025062856111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1399.6891752444965, + 94.80366185708588, + -0.6951025062856111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1401.1891752444965, + 97.4017380684392, + -0.6951025062856111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1402.6891752444965, + 99.99981427979252, + -0.6951025062856111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1404.1891752444965, + 102.59789049114583, + -0.6951025062856111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1405.6891752444965, + 105.19596670249915, + -0.6951025062856111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1407.1891752444965, + 107.79404291385246, + -0.6951025062856111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1408.6891752444965, + 110.39211912520578, + -0.6951025062856111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1410.1891752444965, + 112.9901953365591, + -0.6951025062856111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1411.6891752444965, + 115.58827154791241, + -0.6951025062856111 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1411.6891752444965, + 115.58827154791241, + -0.6951025062856111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1411.6891752444965, + 118.58827154791241, + -0.6951025062856111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1411.6891752444965, + 121.58827154791241, + -0.6951025062856111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1411.6891752444965, + 124.58827154791241, + -0.6951025062856111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1411.6891752444965, + 127.58827154791241, + -0.6951025062856111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1411.6891752444965, + 130.58827154791243, + -0.6951025062856111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1411.6891752444965, + 133.58827154791243, + -0.6951025062856111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1411.6891752444965, + 136.58827154791243, + -0.6951025062856111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1411.6891752444965, + 139.58827154791243, + -0.6951025062856111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1411.6891752444965, + 142.58827154791243, + -0.6951025062856111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1411.6891752444965, + 145.58827154791243, + -0.6951025062856111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1411.6891752444965, + 148.58827154791243, + -0.6951025062856111 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1412.041893005371, + 150.22052021026613, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-52-15_1230769829/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-52-15_1230769829/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2ffa90ce436afe13d99851e37c2548987a5c3667 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-52-15_1230769829/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 30.856153103652332, + 169.90158449912875, + -7.673883458127776 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 33.85615310365233, + 169.90158449912875, + -7.673883458127776 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 36.85615310365233, + 169.90158449912875, + -7.673883458127776 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 39.85615310365233, + 169.90158449912875, + -7.673883458127776 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 42.85615310365233, + 169.90158449912875, + -7.673883458127776 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 45.85615310365233, + 169.90158449912875, + -7.673883458127776 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 48.85615310365233, + 169.90158449912875, + -7.673883458127776 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 51.85615310365233, + 169.90158449912875, + -7.673883458127776 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 54.85615310365233, + 169.90158449912875, + -7.673883458127776 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 57.85615310365233, + 169.90158449912875, + -7.673883458127776 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 60.85615310365233, + 169.90158449912875, + -7.673883458127776 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 63.85615310365233, + 169.90158449912875, + -7.673883458127776 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 66.85615310365233, + 169.90158449912875, + -7.673883458127776 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 69.85615310365233, + 169.90158449912875, + -7.673883458127776 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 72.85615310365233, + 169.90158449912875, + -7.673883458127776 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 75.85615310365233, + 169.90158449912875, + -7.673883458127776 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 78.85615310365233, + 169.90158449912875, + -7.673883458127776 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 81.85615310365233, + 169.90158449912875, + -7.673883458127776 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 84.85615310365233, + 169.90158449912875, + -7.673883458127776 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 87.85615310365233, + 169.90158449912875, + -7.673883458127776 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 90.85615310365233, + 169.90158449912875, + -7.673883458127776 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 93.85615310365233, + 169.90158449912875, + -7.673883458127776 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 96.85615310365233, + 169.90158449912875, + -7.673883458127776 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 99.85615310365233, + 169.90158449912875, + -7.673883458127776 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 99.85615310365233, + 169.90158449912875, + -7.673883458127776 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 102.45422931500565, + 171.40158449912875, + -7.673883458127776 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 105.05230552635896, + 172.90158449912875, + -7.673883458127776 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 107.65038173771228, + 174.40158449912875, + -7.673883458127776 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.78504695892335, + 175.8657693862915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-57-27_1912163036/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-57-27_1912163036/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7f0595f4219345dfba1ce84f5e6d1003c0dfe4e5 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-57-27_1912163036/pose.jsonl @@ -0,0 +1,183 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 329.74720063454043, + -83.93974669887072, + -0.024650405347358628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 329.74720063454043, + -86.93974669887072, + -0.024650405347358628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 329.74720063454043, + -89.93974669887072, + -0.024650405347358628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 329.74720063454043, + -92.93974669887072, + -0.024650405347358628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 329.74720063454043, + -95.93974669887072, + -0.024650405347358628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 329.74720063454043, + -98.93974669887072, + -0.024650405347358628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 329.74720063454043, + -101.93974669887072, + -0.024650405347358628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 329.74720063454043, + -104.93974669887072, + -0.024650405347358628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 329.74720063454043, + -107.93974669887072, + -0.024650405347358628 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 329.74720063454043, + -107.93974669887072, + -0.024650405347358628 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 328.24720063454043, + -110.53782291022404, + -0.024650405347358628 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 326.74720063454043, + -113.13589912157735, + -0.024650405347358628 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 325.24720063454043, + -115.73397533293067, + -0.024650405347358628 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.9684103012085, + -137.41820926666261, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-7-32_2067062760/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-7-32_2067062760/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cfc3119a24ed98f5d6578948337cbe9c1b89226a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-7-32_2067062760/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 451.02968719726454, + 317.0483943629311, + -7.856122945000834 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 453.62776340861785, + 315.5483943629311, + -7.856122945000834 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 456.22583961997117, + 314.0483943629311, + -7.856122945000834 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 458.8239158313245, + 312.5483943629311, + -7.856122945000834 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 461.4219920426778, + 311.0483943629311, + -7.856122945000834 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 464.0200682540311, + 309.5483943629311, + -7.856122945000834 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 466.61814446538443, + 308.0483943629311, + -7.856122945000834 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 469.21622067673775, + 306.5483943629311, + -7.856122945000834 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 471.81429688809106, + 305.0483943629311, + -7.856122945000834 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 474.4123730994444, + 303.5483943629311, + -7.856122945000834 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 477.0104493107977, + 302.0483943629311, + -7.856122945000834 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 479.608525522151, + 300.5483943629311, + -7.856122945000834 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 482.20660173350433, + 299.0483943629311, + -7.856122945000834 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 484.80467794485764, + 297.5483943629311, + -7.856122945000834 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 487.40275415621096, + 296.0483943629311, + -7.856122945000834 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 490.0008303675643, + 294.5483943629311, + -7.856122945000834 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 490.0008303675643, + 294.5483943629311, + -7.856122945000834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 491.5008303675643, + 291.9503181515778, + -7.856122945000834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 493.0008303675643, + 289.3522419402245, + -7.856122945000834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 494.5008303675643, + 286.75416572887116, + -7.856122945000834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 496.0008303675643, + 284.15608951751784, + -7.856122945000834 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 498.19472236633305, + 281.0884632110596, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-2-5_724025165/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-2-5_724025165/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..71e6ffc54527de6448fbf4223ef655f3cf2bb906 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-2-5_724025165/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1331.0391603784772, + -146.41202061413804, + -9.548039676104448 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1332.5391603784772, + -149.01009682549136, + -9.548039676104448 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1334.0391603784772, + -151.60817303684468, + -9.548039676104448 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1335.5391603784772, + -154.206249248198, + -9.548039676104448 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1337.0391603784772, + -156.8043254595513, + -9.548039676104448 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1338.5391603784772, + -159.40240167090462, + -9.548039676104448 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1340.0391603784772, + -162.00047788225794, + -9.548039676104448 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1341.5391603784772, + -164.59855409361126, + -9.548039676104448 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1343.0391603784772, + -167.19663030496457, + -9.548039676104448 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1344.5391603784772, + -169.7947065163179, + -9.548039676104448 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1346.0391603784772, + -172.3927827276712, + -9.548039676104448 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1347.5391603784772, + -174.99085893902452, + -9.548039676104448 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1349.0391603784772, + -177.58893515037784, + -9.548039676104448 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1350.5391603784772, + -180.18701136173115, + -9.548039676104448 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1352.0391603784772, + -182.78508757308447, + -9.548039676104448 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1353.5391603784772, + -185.38316378443778, + -9.548039676104448 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1355.0391603784772, + -187.9812399957911, + -9.548039676104448 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1355.0391603784772, + -187.9812399957911, + -9.548039676104448 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1357.6372365898305, + -189.4812399957911, + -9.548039676104448 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1360.235312801184, + -190.9812399957911, + -9.548039676104448 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1362.8333890125373, + -192.4812399957911, + -9.548039676104448 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1365.4314652238907, + -193.9812399957911, + -9.548039676104448 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1368.029541435244, + -195.4812399957911, + -9.548039676104448 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1370.6276176465974, + -196.9812399957911, + -9.548039676104448 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1374.3149368286133, + -198.07321910858155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-20-54_1101533292/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-20-54_1101533292/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e3644f60e1761cea3ae21257c4bb505cc8337762 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-20-54_1101533292/pose.jsonl @@ -0,0 +1,157 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 231.45414964151857, + -63.016554523711974, + -2.704548606306033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 234.45414964151857, + -63.016554523711974, + -2.704548606306033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 237.45414964151857, + -63.016554523711974, + -2.704548606306033 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 237.45414964151857, + -63.016554523711974, + -2.704548606306033 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 240.05222585287189, + -64.51655452371197, + -2.704548606306033 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 242.6503020642252, + -66.01655452371197, + -2.704548606306033 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 245.24837827557852, + -67.51655452371197, + -2.704548606306033 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 247.84645448693183, + -69.01655452371197, + -2.704548606306033 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 250.44453069828515, + -70.51655452371197, + -2.704548606306033 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 253.04260690963847, + -72.01655452371197, + -2.704548606306033 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 255.64068312099178, + -73.51655452371197, + -2.704548606306033 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 283.9780300140381, + -80.94869422912598, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-32-3_753959819/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-32-3_753959819/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1e43fa80ae01328ecf3ab7350ea6bc6eb1e9e79e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-32-3_753959819/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 12.392884344538366, + -589.9998794321912, + -5.24550122854205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 9.79480813318505, + -591.4998794321912, + -5.24550122854205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 7.196731921831734, + -592.9998794321912, + -5.24550122854205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4.598655710478418, + -594.4998794321912, + -5.24550122854205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2.0005794991251022, + -595.9998794321912, + -5.24550122854205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -0.5974967122282138, + -597.4998794321912, + -5.24550122854205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -3.19557292358153, + -598.9998794321912, + -5.24550122854205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -5.793649134934846, + -600.4998794321912, + -5.24550122854205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -8.391725346288162, + -601.9998794321912, + -5.24550122854205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -10.989801557641478, + -603.4998794321912, + -5.24550122854205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -13.587877768994794, + -604.9998794321912, + -5.24550122854205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -16.18595398034811, + -606.4998794321912, + -5.24550122854205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -18.784030191701426, + -607.9998794321912, + -5.24550122854205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -21.382106403054742, + -609.4998794321912, + -5.24550122854205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -23.980182614408058, + -610.9998794321912, + -5.24550122854205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -26.578258825761374, + -612.4998794321912, + -5.24550122854205 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -26.578258825761374, + -612.4998794321912, + -5.24550122854205 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -29.578258825761374, + -612.4998794321912, + -5.24550122854205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -32.578258825761374, + -612.4998794321912, + -5.24550122854205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -35.578258825761374, + -612.4998794321912, + -5.24550122854205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -38.578258825761374, + -612.4998794321912, + -5.24550122854205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -41.578258825761374, + -612.4998794321912, + -5.24550122854205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -44.578258825761374, + -612.4998794321912, + -5.24550122854205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -47.578258825761374, + -612.4998794321912, + -5.24550122854205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -50.578258825761374, + -612.4998794321912, + -5.24550122854205 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -52.7497802734375, + -613.6590488433839, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-53-40_212295100/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-53-40_212295100/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6ce3c338b1abe2dbd332b9eb8a46764ecfdf24d2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-53-40_212295100/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 74.44137716379488, + -479.27068584429753, + -8.513709761854015 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 71.44137716379488, + -479.27068584429753, + -8.513709761854015 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 68.44137716379488, + -479.27068584429753, + -8.513709761854015 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 65.44137716379488, + -479.27068584429753, + -8.513709761854015 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 62.44137716379488, + -479.27068584429753, + -8.513709761854015 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 59.44137716379488, + -479.27068584429753, + -8.513709761854015 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 56.44137716379488, + -479.27068584429753, + -8.513709761854015 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 53.44137716379488, + -479.27068584429753, + -8.513709761854015 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 50.44137716379488, + -479.27068584429753, + -8.513709761854015 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 47.44137716379488, + -479.27068584429753, + -8.513709761854015 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 44.44137716379488, + -479.27068584429753, + -8.513709761854015 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 41.44137716379488, + -479.27068584429753, + -8.513709761854015 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 38.44137716379488, + -479.27068584429753, + -8.513709761854015 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 35.44137716379488, + -479.27068584429753, + -8.513709761854015 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 32.44137716379488, + -479.27068584429753, + -8.513709761854015 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 29.441377163794883, + -479.27068584429753, + -8.513709761854015 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 26.441377163794883, + -479.27068584429753, + -8.513709761854015 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 23.441377163794883, + -479.27068584429753, + -8.513709761854015 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 20.441377163794883, + -479.27068584429753, + -8.513709761854015 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 17.441377163794883, + -479.27068584429753, + -8.513709761854015 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 14.441377163794883, + -479.27068584429753, + -8.513709761854015 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 11.441377163794883, + -479.27068584429753, + -8.513709761854015 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 8.441377163794883, + -479.27068584429753, + -8.513709761854015 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 5.441377163794883, + -479.27068584429753, + -8.513709761854015 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 5.441377163794883, + -479.27068584429753, + -8.513709761854015 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 5.441377163794883, + -479.27068584429753, + -8.513709761854015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3.9413771637948836, + -476.6726096329442, + -8.513709761854015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2.4413771637948845, + -474.0745334215909, + -8.513709761854015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 0.9413771637948851, + -471.4764572102376, + -8.513709761854015 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 0.9413771637948851, + -471.4764572102376, + -8.513709761854015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1.656699047558431, + -469.9764572102376, + -8.513709761854015 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3.1689678192138673, + -469.5184967041016, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-7-51_99885196/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-7-51_99885196/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4ee0a1bab0c54a3273b7767608dacc7813f25bb9 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-7-51_99885196/pose.jsonl @@ -0,0 +1,209 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 367.719762225592, + -17.8374680296878, + -8.543377122824817 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 367.719762225592, + -20.8374680296878, + -8.543377122824817 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 367.719762225592, + -23.8374680296878, + -8.543377122824817 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 367.719762225592, + -26.8374680296878, + -8.543377122824817 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 367.719762225592, + -29.8374680296878, + -8.543377122824817 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 367.719762225592, + -32.8374680296878, + -8.543377122824817 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 367.719762225592, + -35.8374680296878, + -8.543377122824817 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 367.719762225592, + -38.8374680296878, + -8.543377122824817 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 367.719762225592, + -41.8374680296878, + -8.543377122824817 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 367.719762225592, + -44.8374680296878, + -8.543377122824817 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 367.719762225592, + -47.8374680296878, + -8.543377122824817 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 367.719762225592, + -50.8374680296878, + -8.543377122824817 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 367.719762225592, + -50.8374680296878, + -8.543377122824817 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 369.219762225592, + -53.435544241041114, + -8.543377122824817 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 370.719762225592, + -56.03362045239443, + -8.543377122824817 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 375.30573921203614, + -93.86981248855591, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-8-54_1360478499/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-8-54_1360478499/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2681372300ac012d236e07117cc512032291b259 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-8-54_1360478499/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 823.5817011676434, + -480.00863026301215, + -4.617750007401061 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 820.98362495629, + -478.50863026301215, + -4.617750007401061 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 818.3855487449366, + -477.00863026301215, + -4.617750007401061 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 815.7874725335832, + -475.50863026301215, + -4.617750007401061 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 813.1893963222299, + -474.00863026301215, + -4.617750007401061 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 810.5913201108765, + -472.50863026301215, + -4.617750007401061 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 807.9932438995231, + -471.00863026301215, + -4.617750007401061 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 805.3951676881697, + -469.50863026301215, + -4.617750007401061 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 802.7970914768164, + -468.00863026301215, + -4.617750007401061 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 800.199015265463, + -466.50863026301215, + -4.617750007401061 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 797.6009390541096, + -465.00863026301215, + -4.617750007401061 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 795.0028628427563, + -463.50863026301215, + -4.617750007401061 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 792.4047866314029, + -462.00863026301215, + -4.617750007401061 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 789.8067104200495, + -460.50863026301215, + -4.617750007401061 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 787.2086342086961, + -459.00863026301215, + -4.617750007401061 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 784.6105579973428, + -457.50863026301215, + -4.617750007401061 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 782.0124817859894, + -456.00863026301215, + -4.617750007401061 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 779.414405574636, + -454.50863026301215, + -4.617750007401061 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 776.8163293632826, + -453.00863026301215, + -4.617750007401061 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 774.2182531519293, + -451.50863026301215, + -4.617750007401061 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 770.3367736816407, + -451.65129089355474, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-32-49_1569654968/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-32-49_1569654968/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bd8ca46cbdd1cb958abafcf202ea2a7c23d0eab1 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-32-49_1569654968/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 121.77216594714815, + -461.3015675879915, + -7.504006168964644 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 120.27216594714815, + -458.70349137663817, + -7.504006168964644 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 118.77216594714815, + -456.10541516528485, + -7.504006168964644 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 117.27216594714815, + -453.50733895393154, + -7.504006168964644 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 115.77216594714815, + -450.9092627425782, + -7.504006168964644 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 114.27216594714815, + -448.3111865312249, + -7.504006168964644 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 112.77216594714815, + -445.7131103198716, + -7.504006168964644 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 111.27216594714815, + -443.1150341085183, + -7.504006168964644 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 109.77216594714815, + -440.51695789716496, + -7.504006168964644 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 108.27216594714815, + -437.91888168581164, + -7.504006168964644 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 106.77216594714815, + -435.3208054744583, + -7.504006168964644 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 105.27216594714815, + -432.722729263105, + -7.504006168964644 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 103.77216594714815, + -430.1246530517517, + -7.504006168964644 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 102.27216594714815, + -427.5265768403984, + -7.504006168964644 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 100.77216594714815, + -424.92850062904506, + -7.504006168964644 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 99.27216594714815, + -422.33042441769175, + -7.504006168964644 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 97.77216594714815, + -419.73234820633843, + -7.504006168964644 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 96.27216594714815, + -417.1342719949851, + -7.504006168964644 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 94.77216594714815, + -414.5361957836318, + -7.504006168964644 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 93.27216594714815, + -411.9381195722785, + -7.504006168964644 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 91.77216594714815, + -409.34004336092516, + -7.504006168964644 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 90.3713176727295, + -405.9313674926758, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-42-2_1660038320/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-42-2_1660038320/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7127db2bf7822a7e3e8a261fffe7ee240bc707b7 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-42-2_1660038320/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 260.05158611479834, + -186.4655942061563, + -1.6089761372271845 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 262.64966232615166, + -184.9655942061563, + -1.6089761372271845 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 265.247738537505, + -183.4655942061563, + -1.6089761372271845 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 267.8458147488583, + -181.9655942061563, + -1.6089761372271845 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 270.4438909602116, + -180.4655942061563, + -1.6089761372271845 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 273.0419671715649, + -178.9655942061563, + -1.6089761372271845 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 275.64004338291824, + -177.4655942061563, + -1.6089761372271845 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 278.23811959427155, + -175.9655942061563, + -1.6089761372271845 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 280.83619580562487, + -174.4655942061563, + -1.6089761372271845 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 283.4342720169782, + -172.9655942061563, + -1.6089761372271845 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 286.0323482283315, + -171.4655942061563, + -1.6089761372271845 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 288.6304244396848, + -169.9655942061563, + -1.6089761372271845 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 288.6304244396848, + -169.9655942061563, + -1.6089761372271845 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 290.1304244396848, + -167.367517994803, + -1.6089761372271845 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 291.6304244396848, + -164.76944178344968, + -1.6089761372271845 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 293.1304244396848, + -162.17136557209636, + -1.6089761372271845 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 294.6304244396848, + -159.57328936074305, + -1.6089761372271845 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 296.1304244396848, + -156.97521314938973, + -1.6089761372271845 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 297.6304244396848, + -154.37713693803641, + -1.6089761372271845 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 297.6304244396848, + -154.37713693803641, + -1.6089761372271845 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 300.22850065103813, + -152.87713693803641, + -1.6089761372271845 + ], + "type": "stop", + "value": 0, + "yaw": 0.523598775598299 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.9684103012085, + -137.41820926666261, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-46-58_1955769409/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-46-58_1955769409/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..114d7b76ac9039f072ad5badb50e074e6b51a919 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-46-58_1955769409/pose.jsonl @@ -0,0 +1,261 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 732.2350931121531, + 5.400394939968823, + -9.265215837113312 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 735.2350931121531, + 5.400394939968823, + -9.265215837113312 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 738.2350931121531, + 5.400394939968823, + -9.265215837113312 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 741.2350931121531, + 5.400394939968823, + -9.265215837113312 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 744.2350931121531, + 5.400394939968823, + -9.265215837113312 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 744.2350931121531, + 5.400394939968823, + -9.265215837113312 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 746.8331693235064, + 3.900394939968823, + -9.265215837113312 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 749.4312455348597, + 2.400394939968823, + -9.265215837113312 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 752.0293217462131, + 0.9003949399688234, + -9.265215837113312 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982893 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 754.6273979575665, + -0.5996050600311764, + -9.265215837113312 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982893 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 757.2254741689198, + -2.099605060031176, + -9.265215837113312 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982893 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 759.8235503802732, + -3.599605060031176, + -9.265215837113312 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 762.4216265916266, + -5.099605060031176, + -9.265215837113312 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 765.01970280298, + -6.599605060031176, + -9.265215837113312 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 767.6177790143333, + -8.099605060031175, + -9.265215837113312 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982892 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 770.2158552256867, + -9.599605060031175, + -9.265215837113312 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 772.8139314370401, + -11.099605060031175, + -9.265215837113312 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 775.4120076483935, + -12.599605060031175, + -9.265215837113312 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 778.0100838597468, + -14.099605060031175, + -9.265215837113312 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 785.4496536254883, + -18.975487995147706, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-54-17_1530130017/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-54-17_1530130017/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b814d9970a6e9e1f7210892804e9d513b28fa64a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-54-17_1530130017/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 8.203606972335972, + -1.4755254330213745, + -0.634345548548982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 8.203606972335972, + -4.4755254330213745, + -0.634345548548982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 8.203606972335972, + -7.4755254330213745, + -0.634345548548982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 8.203606972335972, + -10.475525433021375, + -0.634345548548982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 8.203606972335972, + -13.475525433021375, + -0.634345548548982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 8.203606972335972, + -16.475525433021375, + -0.634345548548982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 8.203606972335972, + -19.475525433021375, + -0.634345548548982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 8.203606972335972, + -22.475525433021375, + -0.634345548548982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 8.203606972335972, + -25.475525433021375, + -0.634345548548982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 8.203606972335972, + -28.475525433021375, + -0.634345548548982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 8.203606972335972, + -31.475525433021375, + -0.634345548548982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 8.203606972335972, + -34.475525433021375, + -0.634345548548982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 8.203606972335972, + -37.475525433021375, + -0.634345548548982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 8.203606972335972, + -40.475525433021375, + -0.634345548548982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 8.203606972335972, + -43.475525433021375, + -0.634345548548982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 8.203606972335972, + -46.475525433021375, + -0.634345548548982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 8.203606972335972, + -49.475525433021375, + -0.634345548548982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 8.203606972335972, + -52.475525433021375, + -0.634345548548982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 8.203606972335972, + -55.475525433021375, + -0.634345548548982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 8.203606972335972, + -58.475525433021375, + -0.634345548548982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 8.203606972335972, + -61.475525433021375, + -0.634345548548982 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 8.203606972335972, + -61.475525433021375, + -0.634345548548982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 9.703606972335972, + -64.07360164437469, + -0.634345548548982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 11.203606972335972, + -66.671677855728, + -0.634345548548982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 12.703606972335972, + -69.26975406708132, + -0.634345548548982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 14.203606972335972, + -71.86783027843464, + -0.634345548548982 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 17.12450046539307, + -73.06071357727052, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-17-35_1602182790/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-17-35_1602182790/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0944a6395bb5c896f8b27a314b1db8c21fe95427 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-17-35_1602182790/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -178.03529311833492, + -777.1757252127074, + -5.472393603236586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -176.53529311833492, + -774.5776490013541, + -5.472393603236586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -175.03529311833492, + -771.9795727900007, + -5.472393603236586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -173.53529311833492, + -769.3814965786473, + -5.472393603236586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -172.03529311833492, + -766.783420367294, + -5.472393603236586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -170.53529311833492, + -764.1853441559406, + -5.472393603236586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -169.03529311833492, + -761.5872679445872, + -5.472393603236586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -167.53529311833492, + -758.9891917332338, + -5.472393603236586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -166.03529311833492, + -756.3911155218805, + -5.472393603236586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -164.53529311833492, + -753.7930393105271, + -5.472393603236586 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -164.53529311833492, + -753.7930393105271, + -5.472393603236586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -161.9372169069816, + -752.2930393105271, + -5.472393603236586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -159.3391406956283, + -750.7930393105271, + -5.472393603236586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -156.74106448427497, + -749.2930393105271, + -5.472393603236586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -154.14298827292166, + -747.7930393105271, + -5.472393603236586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -151.54491206156834, + -746.2930393105271, + -5.472393603236586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -148.94683585021502, + -744.7930393105271, + -5.472393603236586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -146.3487596388617, + -743.2930393105271, + -5.472393603236586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -143.7506834275084, + -741.7930393105271, + -5.472393603236586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -141.15260721615508, + -740.2930393105271, + -5.472393603236586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -138.55453100480176, + -738.7930393105271, + -5.472393603236586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -135.95645479344844, + -737.2930393105271, + -5.472393603236586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -133.35837858209513, + -735.7930393105271, + -5.472393603236586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -130.7603023707418, + -734.2930393105271, + -5.472393603236586 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -130.4267204284668, + -730.7557357788087, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-24-25_1883555567/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-24-25_1883555567/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bdfd9dff0333768e525fc7f2cc84fe2775457d57 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-24-25_1883555567/pose.jsonl @@ -0,0 +1,261 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -183.3953157939694, + -191.79164392544595, + -8.072640773474438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -181.8953157939694, + -194.38972013679927, + -8.072640773474438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -180.3953157939694, + -196.98779634815259, + -8.072640773474438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -178.8953157939694, + -199.5858725595059, + -8.072640773474438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -177.3953157939694, + -202.18394877085922, + -8.072640773474438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -175.8953157939694, + -204.78202498221253, + -8.072640773474438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -174.3953157939694, + -207.38010119356585, + -8.072640773474438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -172.8953157939694, + -209.97817740491917, + -8.072640773474438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -171.3953157939694, + -212.57625361627248, + -8.072640773474438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -169.8953157939694, + -215.1743298276258, + -8.072640773474438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -168.3953157939694, + -217.7724060389791, + -8.072640773474438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -166.8953157939694, + -220.37048225033243, + -8.072640773474438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -165.3953157939694, + -222.96855846168575, + -8.072640773474438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -163.8953157939694, + -225.56663467303906, + -8.072640773474438 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -163.8953157939694, + -225.56663467303906, + -8.072640773474438 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -161.29723958261607, + -227.06663467303906, + -8.072640773474438 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -158.69916337126276, + -228.56663467303906, + -8.072640773474438 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -156.10108715990944, + -230.06663467303906, + -8.072640773474438 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -153.50301094855612, + -231.56663467303906, + -8.072640773474438 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -152.3348680496216, + -234.43780555725098, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-28-50_1184726095/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-28-50_1184726095/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fa272a12ba9eea14a27877fa9fc7dcd13ea7163d --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-28-50_1184726095/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1054.3814523164233, + -224.6571842720304, + -4.464675783235927 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1051.78337610507, + -226.1571842720304, + -4.464675783235927 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1049.1852998937165, + -227.6571842720304, + -4.464675783235927 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1046.5872236823632, + -229.1571842720304, + -4.464675783235927 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1043.9891474710098, + -230.6571842720304, + -4.464675783235927 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1041.3910712596564, + -232.1571842720304, + -4.464675783235927 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1038.792995048303, + -233.6571842720304, + -4.464675783235927 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1036.1949188369497, + -235.1571842720304, + -4.464675783235927 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1033.5968426255963, + -236.6571842720304, + -4.464675783235927 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1030.998766414243, + -238.1571842720304, + -4.464675783235927 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1028.4006902028896, + -239.6571842720304, + -4.464675783235927 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1025.8026139915362, + -241.1571842720304, + -4.464675783235927 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1023.2045377801828, + -242.6571842720304, + -4.464675783235927 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1020.6064615688294, + -244.1571842720304, + -4.464675783235927 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1018.0083853574761, + -245.6571842720304, + -4.464675783235927 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1015.4103091461227, + -247.1571842720304, + -4.464675783235927 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1015.4103091461227, + -247.1571842720304, + -4.464675783235927 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1012.4103091461227, + -247.1571842720304, + -4.464675783235927 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1009.4103091461227, + -247.1571842720304, + -4.464675783235927 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1006.4103091461227, + -247.1571842720304, + -4.464675783235927 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1003.4103091461227, + -247.1571842720304, + -4.464675783235927 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1000.4103091461227, + -247.1571842720304, + -4.464675783235927 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 997.4103091461227, + -247.1571842720304, + -4.464675783235927 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 984.0259399414064, + -252.70955543518068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-34-58_234686974/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-34-58_234686974/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0a589b734aa96f5140028edb7dd6d6059b72ba1c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-34-58_234686974/pose.jsonl @@ -0,0 +1,144 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 627.7583301138195, + 92.77570035313728, + -6.261576830840456 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 626.2583301138195, + 90.17762414178397, + -6.261576830840456 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 624.7583301138195, + 87.57954793043065, + -6.261576830840456 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 623.2583301138195, + 84.98147171907733, + -6.261576830840456 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 621.7583301138195, + 82.38339550772402, + -6.261576830840456 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 620.2583301138195, + 79.7853192963707, + -6.261576830840456 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 620.2583301138195, + 79.7853192963707, + -6.261576830840456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 620.2583301138195, + 76.7853192963707, + -6.261576830840456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 620.2583301138195, + 73.7853192963707, + -6.261576830840456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 620.2583301138195, + 70.7853192963707, + -6.261576830840456 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 611.1197254180909, + 43.554152965545654, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-42-1_954296984/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-42-1_954296984/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4f3f7eae503b3160308444a2c5398525a62ef99a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-42-1_954296984/pose.jsonl @@ -0,0 +1,196 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1599.2786293833374, + -38.08501571979423, + -0.9853955544995259 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1596.2786293833374, + -38.08501571979423, + -0.9853955544995259 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1593.2786293833374, + -38.08501571979423, + -0.9853955544995259 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1590.2786293833374, + -38.08501571979423, + -0.9853955544995259 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1587.2786293833374, + -38.08501571979423, + -0.9853955544995259 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1584.2786293833374, + -38.08501571979423, + -0.9853955544995259 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1581.2786293833374, + -38.08501571979423, + -0.9853955544995259 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1578.2786293833374, + -38.08501571979423, + -0.9853955544995259 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1575.2786293833374, + -38.08501571979423, + -0.9853955544995259 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1572.2786293833374, + -38.08501571979423, + -0.9853955544995259 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1569.2786293833374, + -38.08501571979423, + -0.9853955544995259 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1569.2786293833374, + -38.08501571979423, + -0.9853955544995259 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1569.2786293833374, + -38.08501571979423, + -0.9853955544995259 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1567.7786293833374, + -35.48693950844091, + -0.9853955544995259 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931957 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.3544021606447, + -28.02864229679108, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-47-7_26416758/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-47-7_26416758/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..453b1bd4fd2468a9513d0cfc4b6ffb0deb52558c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-47-7_26416758/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 324.9988441531277, + 155.46579404162793, + -9.7914781272295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 321.9988441531277, + 155.46579404162793, + -9.7914781272295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 318.9988441531277, + 155.46579404162793, + -9.7914781272295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 315.9988441531277, + 155.46579404162793, + -9.7914781272295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 312.9988441531277, + 155.46579404162793, + -9.7914781272295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 309.9988441531277, + 155.46579404162793, + -9.7914781272295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 306.9988441531277, + 155.46579404162793, + -9.7914781272295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 303.9988441531277, + 155.46579404162793, + -9.7914781272295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 300.9988441531277, + 155.46579404162793, + -9.7914781272295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 297.9988441531277, + 155.46579404162793, + -9.7914781272295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 294.9988441531277, + 155.46579404162793, + -9.7914781272295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 291.9988441531277, + 155.46579404162793, + -9.7914781272295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 288.9988441531277, + 155.46579404162793, + -9.7914781272295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 285.9988441531277, + 155.46579404162793, + -9.7914781272295 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 285.9988441531277, + 155.46579404162793, + -9.7914781272295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 283.4007679417744, + 153.96579404162793, + -9.7914781272295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 280.8026917304211, + 152.46579404162793, + -9.7914781272295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 278.2046155190678, + 150.96579404162793, + -9.7914781272295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 275.60653930771446, + 149.46579404162793, + -9.7914781272295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 273.00846309636114, + 147.96579404162793, + -9.7914781272295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 270.4103868850078, + 146.46579404162793, + -9.7914781272295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 267.8123106736545, + 144.96579404162793, + -9.7914781272295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 265.2142344623012, + 143.46579404162793, + -9.7914781272295 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 265.2142344623012, + 143.46579404162793, + -9.7914781272295 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 262.2142344623012, + 143.46579404162793, + -9.7914781272295 + ], + "type": "stop", + "value": 0, + "yaw": -3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 258.26647663116455, + 142.7095600128174, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-55-18_297820659/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-55-18_297820659/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..77f7b16f6d37f22084d22b3bb3883826bd0c0c04 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-55-18_297820659/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -16.500807064925553, + -550.2258233053414, + -1.9030728471176008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -18.000807064925553, + -552.8238995166946, + -1.9030728471176008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -19.500807064925553, + -555.421975728048, + -1.9030728471176008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -21.000807064925553, + -558.0200519394014, + -1.9030728471176008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -22.500807064925553, + -560.6181281507547, + -1.9030728471176008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -24.000807064925553, + -563.2162043621081, + -1.9030728471176008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -25.500807064925553, + -565.8142805734615, + -1.9030728471176008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -27.000807064925553, + -568.4123567848148, + -1.9030728471176008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -28.500807064925553, + -571.0104329961682, + -1.9030728471176008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -30.000807064925553, + -573.6085092075216, + -1.9030728471176008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -31.500807064925553, + -576.206585418875, + -1.9030728471176008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -33.00080706492555, + -578.8046616302283, + -1.9030728471176008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -34.50080706492555, + -581.4027378415817, + -1.9030728471176008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -36.00080706492555, + -584.0008140529351, + -1.9030728471176008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -37.50080706492555, + -586.5988902642885, + -1.9030728471176008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -39.00080706492555, + -589.1969664756418, + -1.9030728471176008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -40.50080706492555, + -591.7950426869952, + -1.9030728471176008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -42.00080706492555, + -594.3931188983486, + -1.9030728471176008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -43.50080706492555, + -596.991195109702, + -1.9030728471176008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -45.00080706492555, + -599.5892713210553, + -1.9030728471176008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -46.50080706492555, + -602.1873475324087, + -1.9030728471176008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -48.00080706492555, + -604.7854237437621, + -1.9030728471176008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -49.50080706492555, + -607.3834999551154, + -1.9030728471176008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -51.00080706492555, + -609.9815761664688, + -1.9030728471176008 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -52.7497802734375, + -613.6590488433839, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-56-36_877062718/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-56-36_877062718/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ad0d2c2b4b59c2ebf71d35704a5759ee66cae493 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-56-36_877062718/pose.jsonl @@ -0,0 +1,53 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 895.7757477203403, + -443.0777030659256, + -5.423963176347683 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 894.2757477203403, + -440.4796268545723, + -5.423963176347683 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 892.7757477203403, + -437.881550643219, + -5.423963176347683 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-9-57_1268632557/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-9-57_1268632557/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2f681af901a2fd48bdb56e5f7ab518b827d487f2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-9-57_1268632557/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1353.3250941228234, + 234.94482771199773, + -0.40439152726457905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1350.3250941228234, + 234.94482771199773, + -0.40439152726457905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1347.3250941228234, + 234.94482771199773, + -0.40439152726457905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1344.3250941228234, + 234.94482771199773, + -0.40439152726457905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1341.3250941228234, + 234.94482771199773, + -0.40439152726457905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1338.3250941228234, + 234.94482771199773, + -0.40439152726457905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1335.3250941228234, + 234.94482771199773, + -0.40439152726457905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1332.3250941228234, + 234.94482771199773, + -0.40439152726457905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1329.3250941228234, + 234.94482771199773, + -0.40439152726457905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1326.3250941228234, + 234.94482771199773, + -0.40439152726457905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1323.3250941228234, + 234.94482771199773, + -0.40439152726457905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1320.3250941228234, + 234.94482771199773, + -0.40439152726457905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1317.3250941228234, + 234.94482771199773, + -0.40439152726457905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1314.3250941228234, + 234.94482771199773, + -0.40439152726457905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1311.3250941228234, + 234.94482771199773, + -0.40439152726457905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1308.3250941228234, + 234.94482771199773, + -0.40439152726457905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1305.3250941228234, + 234.94482771199773, + -0.40439152726457905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1302.3250941228234, + 234.94482771199773, + -0.40439152726457905 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1302.3250941228234, + 234.94482771199773, + -0.40439152726457905 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1302.3250941228234, + 234.94482771199773, + -0.40439152726457905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1300.8250941228234, + 237.54290392335105, + -0.40439152726457905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1299.3250941228234, + 240.14098013470436, + -0.40439152726457905 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1299.3250941228234, + 240.14098013470436, + -0.40439152726457905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1296.72701791147, + 241.64098013470436, + -0.40439152726457905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1294.1289417001167, + 243.14098013470436, + -0.40439152726457905 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1292.3825042724611, + 243.1778787612915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-0-13_596727699/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-0-13_596727699/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d9c234dfe9c9046724bc87896c4c1af3942f12e5 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-0-13_596727699/pose.jsonl @@ -0,0 +1,66 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 973.8324270234785, + -313.89244812151514, + -8.156589495061823 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 973.8324270234785, + -310.89244812151514, + -8.156589495061823 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 973.8324270234785, + -307.89244812151514, + -8.156589495061823 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 973.8324270234785, + -304.89244812151514, + -8.156589495061823 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 984.0259399414064, + -252.70955543518068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-11-30_1206758863/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-11-30_1206758863/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3a0142eb35b9718b3d56f2f59b1e4d5c729c5fe5 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-11-30_1206758863/pose.jsonl @@ -0,0 +1,118 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 425.7228905182448, + -310.249074014499, + -3.3075800980250722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 425.7228905182448, + -307.249074014499, + -3.3075800980250722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 425.7228905182448, + -304.249074014499, + -3.3075800980250722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 425.7228905182448, + -301.249074014499, + -3.3075800980250722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 425.7228905182448, + -298.249074014499, + -3.3075800980250722 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 425.7228905182448, + -298.249074014499, + -3.3075800980250722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 424.2228905182448, + -295.6509978031457, + -3.3075800980250722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 422.7228905182448, + -293.05292159179237, + -3.3075800980250722 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 417.240055847168, + -253.0383457183838, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-15-12_1786910435/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-15-12_1786910435/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7a8a3e98c3aca10f3ff50f0531de680913bc1ce3 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-15-12_1786910435/pose.jsonl @@ -0,0 +1,248 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -324.1289256278256, + -140.4000613533525, + -5.880615349725899 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -324.1289256278256, + -137.4000613533525, + -5.880615349725899 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -324.1289256278256, + -134.4000613533525, + -5.880615349725899 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -324.1289256278256, + -131.4000613533525, + -5.880615349725899 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -324.1289256278256, + -128.4000613533525, + -5.880615349725899 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -324.1289256278256, + -125.4000613533525, + -5.880615349725899 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -324.1289256278256, + -122.4000613533525, + -5.880615349725899 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -324.1289256278256, + -119.4000613533525, + -5.880615349725899 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -324.1289256278256, + -116.4000613533525, + -5.880615349725899 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -324.1289256278256, + -113.4000613533525, + -5.880615349725899 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -324.1289256278256, + -113.4000613533525, + -5.880615349725899 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -325.6289256278256, + -110.80198514199918, + -5.880615349725899 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -327.1289256278256, + -108.20390893064587, + -5.880615349725899 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -328.6289256278256, + -105.60583271929255, + -5.880615349725899 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -330.1289256278256, + -103.00775650793923, + -5.880615349725899 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -331.6289256278256, + -100.40968029658592, + -5.880615349725899 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -333.1289256278256, + -97.8116040852326, + -5.880615349725899 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -334.6289256278256, + -95.21352787387929, + -5.880615349725899 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.7922431945801, + -91.63226652145386, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-16-31_1616992200/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-16-31_1616992200/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c6837517bf2dafd719011d9582f88876234a97f6 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-16-31_1616992200/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 48.77903303219415, + -453.6996653326681, + -0.22144204905763587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 46.180956820840834, + -455.1996653326681, + -0.22144204905763587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 43.58288060948752, + -456.6996653326681, + -0.22144204905763587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 40.9848043981342, + -458.1996653326681, + -0.22144204905763587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 38.386728186780886, + -459.6996653326681, + -0.22144204905763587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 35.78865197542757, + -461.1996653326681, + -0.22144204905763587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 33.190575764074254, + -462.6996653326681, + -0.22144204905763587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 30.592499552720938, + -464.1996653326681, + -0.22144204905763587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 27.99442334136762, + -465.6996653326681, + -0.22144204905763587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 25.396347130014306, + -467.1996653326681, + -0.22144204905763587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 22.79827091866099, + -468.6996653326681, + -0.22144204905763587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 20.200194707307674, + -470.1996653326681, + -0.22144204905763587 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 20.200194707307674, + -470.1996653326681, + -0.22144204905763587 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 17.200194707307674, + -470.1996653326681, + -0.22144204905763587 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 14.200194707307674, + -470.1996653326681, + -0.22144204905763587 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 11.200194707307674, + -470.1996653326681, + -0.22144204905763587 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 8.200194707307674, + -470.1996653326681, + -0.22144204905763587 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 5.2001947073076735, + -470.1996653326681, + -0.22144204905763587 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2.2001947073076735, + -470.1996653326681, + -0.22144204905763587 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -0.7998052926923265, + -470.1996653326681, + -0.22144204905763587 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3.1689678192138673, + -469.5184967041016, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-28-39_1642949730/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-28-39_1642949730/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2525cb5ccc04b7f31da82fa1eeb29af4996e018a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-28-39_1642949730/pose.jsonl @@ -0,0 +1,222 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 838.6722655538023, + 133.52642459962564, + -9.766486243470771 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 836.074189342449, + 132.02642459962564, + -9.766486243470771 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 833.4761131310956, + 130.52642459962564, + -9.766486243470771 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 830.8780369197423, + 129.02642459962564, + -9.766486243470771 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 828.2799607083889, + 127.52642459962564, + -9.766486243470771 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 825.6818844970355, + 126.02642459962564, + -9.766486243470771 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 823.0838082856822, + 124.52642459962564, + -9.766486243470771 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 820.4857320743288, + 123.02642459962564, + -9.766486243470771 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 817.8876558629754, + 121.52642459962564, + -9.766486243470771 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 815.289579651622, + 120.02642459962564, + -9.766486243470771 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 812.6915034402687, + 118.52642459962564, + -9.766486243470771 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 812.6915034402687, + 118.52642459962564, + -9.766486243470771 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 811.1915034402687, + 115.92834838827233, + -9.766486243470771 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 809.6915034402687, + 113.33027217691901, + -9.766486243470771 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 808.1915034402687, + 110.7321959655657, + -9.766486243470771 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 806.6915034402687, + 108.13411975421238, + -9.766486243470771 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 793.9949005126954, + 95.9690920829773, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-29-3_127340947/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-29-3_127340947/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..75d92fe10cd266044a1116a8042ae973cb9f4462 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-29-3_127340947/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1193.4823789980583, + 184.03984450184734, + -4.436407029650505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1196.4823789980583, + 184.03984450184734, + -4.436407029650505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1199.4823789980583, + 184.03984450184734, + -4.436407029650505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1202.4823789980583, + 184.03984450184734, + -4.436407029650505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1205.4823789980583, + 184.03984450184734, + -4.436407029650505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1208.4823789980583, + 184.03984450184734, + -4.436407029650505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1211.4823789980583, + 184.03984450184734, + -4.436407029650505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1214.4823789980583, + 184.03984450184734, + -4.436407029650505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1217.4823789980583, + 184.03984450184734, + -4.436407029650505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1220.4823789980583, + 184.03984450184734, + -4.436407029650505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1223.4823789980583, + 184.03984450184734, + -4.436407029650505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1226.4823789980583, + 184.03984450184734, + -4.436407029650505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1229.4823789980583, + 184.03984450184734, + -4.436407029650505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1232.4823789980583, + 184.03984450184734, + -4.436407029650505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1235.4823789980583, + 184.03984450184734, + -4.436407029650505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1238.4823789980583, + 184.03984450184734, + -4.436407029650505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1241.4823789980583, + 184.03984450184734, + -4.436407029650505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1244.4823789980583, + 184.03984450184734, + -4.436407029650505 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1244.4823789980583, + 184.03984450184734, + -4.436407029650505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1247.0804552094116, + 182.53984450184734, + -4.436407029650505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1249.678531420765, + 181.03984450184734, + -4.436407029650505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1252.2766076321184, + 179.53984450184734, + -4.436407029650505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1254.8746838434718, + 178.03984450184734, + -4.436407029650505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1257.4727600548251, + 176.53984450184734, + -4.436407029650505 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1257.4727600548251, + 176.53984450184734, + -4.436407029650505 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1260.4727600548251, + 176.53984450184734, + -4.436407029650505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1263.4727600548251, + 176.53984450184734, + -4.436407029650505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1266.4727600548251, + 176.53984450184734, + -4.436407029650505 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1269.6296508789064, + 175.0053077697754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-52-26_1415431554/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-52-26_1415431554/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dbdfdfc413403b926c952a0408ad7ff21983f07a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-52-26_1415431554/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1209.7577109768263, + -200.2118944728621, + -6.79557169117853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1212.7577109768263, + -200.2118944728621, + -6.79557169117853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1215.7577109768263, + -200.2118944728621, + -6.79557169117853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1218.7577109768263, + -200.2118944728621, + -6.79557169117853 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1218.7577109768263, + -200.2118944728621, + -6.79557169117853 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1221.3557871881796, + -201.7118944728621, + -6.79557169117853 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1223.953863399533, + -203.2118944728621, + -6.79557169117853 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1226.5519396108864, + -204.7118944728621, + -6.79557169117853 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1229.1500158222398, + -206.2118944728621, + -6.79557169117853 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1231.7480920335931, + -207.7118944728621, + -6.79557169117853 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1234.3461682449465, + -209.2118944728621, + -6.79557169117853 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1236.9442444562999, + -210.7118944728621, + -6.79557169117853 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1239.5423206676533, + -212.2118944728621, + -6.79557169117853 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1242.1403968790066, + -213.7118944728621, + -6.79557169117853 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1244.73847309036, + -215.2118944728621, + -6.79557169117853 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1247.3365493017134, + -216.7118944728621, + -6.79557169117853 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1249.9346255130667, + -218.2118944728621, + -6.79557169117853 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1252.5327017244201, + -219.7118944728621, + -6.79557169117853 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1255.1307779357735, + -221.2118944728621, + -6.79557169117853 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1257.7288541471269, + -222.7118944728621, + -6.79557169117853 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1260.3269303584802, + -224.2118944728621, + -6.79557169117853 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1262.9250065698336, + -225.7118944728621, + -6.79557169117853 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1265.523082781187, + -227.2118944728621, + -6.79557169117853 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1268.1211589925404, + -228.7118944728621, + -6.79557169117853 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1270.7192352038937, + -230.2118944728621, + -6.79557169117853 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1273.317311415247, + -231.7118944728621, + -6.79557169117853 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1273.901252746582, + -233.9151123046875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-8-50_863043860/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-8-50_863043860/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5688ced4e815f9490a23e9293bdcdd479f3aab1b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-8-50_863043860/pose.jsonl @@ -0,0 +1,261 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 722.2499002622726, + -430.55053309264304, + -9.532234098340826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 725.2499002622726, + -430.55053309264304, + -9.532234098340826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 728.2499002622726, + -430.55053309264304, + -9.532234098340826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 731.2499002622726, + -430.55053309264304, + -9.532234098340826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 734.2499002622726, + -430.55053309264304, + -9.532234098340826 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 734.2499002622726, + -430.55053309264304, + -9.532234098340826 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 736.847976473626, + -432.05053309264304, + -9.532234098340826 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 739.4460526849793, + -433.55053309264304, + -9.532234098340826 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 742.0441288963327, + -435.05053309264304, + -9.532234098340826 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 744.6422051076861, + -436.55053309264304, + -9.532234098340826 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 747.2402813190395, + -438.05053309264304, + -9.532234098340826 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 749.8383575303928, + -439.55053309264304, + -9.532234098340826 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 752.4364337417462, + -441.05053309264304, + -9.532234098340826 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 755.0345099530996, + -442.55053309264304, + -9.532234098340826 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 757.632586164453, + -444.05053309264304, + -9.532234098340826 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 760.2306623758063, + -445.55053309264304, + -9.532234098340826 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 762.8287385871597, + -447.05053309264304, + -9.532234098340826 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 765.4268147985131, + -448.55053309264304, + -9.532234098340826 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 768.0248910098665, + -450.05053309264304, + -9.532234098340826 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 770.3367736816407, + -451.65129089355474, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-23-13_1169442043/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-23-13_1169442043/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0cbfd79b8214720734324d1b089646738c9b3209 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-23-13_1169442043/pose.jsonl @@ -0,0 +1,235 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 231.8972983737499, + 97.9302766504719, + -8.043013120587151 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 233.3972983737499, + 100.52835286182521, + -8.043013120587151 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 234.8972983737499, + 103.12642907317853, + -8.043013120587151 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 236.3972983737499, + 105.72450528453184, + -8.043013120587151 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 237.8972983737499, + 108.32258149588516, + -8.043013120587151 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 239.3972983737499, + 110.92065770723848, + -8.043013120587151 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 240.8972983737499, + 113.51873391859179, + -8.043013120587151 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 242.3972983737499, + 116.11681012994511, + -8.043013120587151 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 243.8972983737499, + 118.71488634129842, + -8.043013120587151 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 245.3972983737499, + 121.31296255265174, + -8.043013120587151 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 246.8972983737499, + 123.91103876400506, + -8.043013120587151 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 248.3972983737499, + 126.50911497535837, + -8.043013120587151 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 249.8972983737499, + 129.1071911867117, + -8.043013120587151 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 251.3972983737499, + 131.70526739806502, + -8.043013120587151 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 252.8972983737499, + 134.30334360941833, + -8.043013120587151 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 254.3972983737499, + 136.90141982077165, + -8.043013120587151 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 255.8972983737499, + 139.49949603212497, + -8.043013120587151 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 258.26647663116455, + 142.7095600128174, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-36-54_1340321698/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-36-54_1340321698/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cf5819ab7dedb752d4e978f0dbd2040f2daea5d0 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-36-54_1340321698/pose.jsonl @@ -0,0 +1,196 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 895.8946866360554, + -324.6666979176643, + -8.435767840130023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 897.3946866360554, + -322.068621706311, + -8.435767840130023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 898.8946866360554, + -319.47054549495766, + -8.435767840130023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 900.3946866360554, + -316.87246928360435, + -8.435767840130023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 901.8946866360554, + -314.27439307225103, + -8.435767840130023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 903.3946866360554, + -311.6763168608977, + -8.435767840130023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 904.8946866360554, + -309.0782406495444, + -8.435767840130023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 906.3946866360554, + -306.4801644381911, + -8.435767840130023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 907.8946866360554, + -303.88208822683777, + -8.435767840130023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 909.3946866360554, + -301.28401201548445, + -8.435767840130023 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 909.3946866360554, + -301.28401201548445, + -8.435767840130023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 909.3946866360554, + -298.28401201548445, + -8.435767840130023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 909.3946866360554, + -295.28401201548445, + -8.435767840130023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 909.3946866360554, + -292.28401201548445, + -8.435767840130023 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 919.2332725524903, + -271.52674827575686, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-45-15_819599372/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-45-15_819599372/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..50acbcdf59c4592731af4481dfb6ab31f9526fd9 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-45-15_819599372/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 52.66551625103257, + 62.17337161561619, + -0.7006248178639964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 51.16551625103257, + 59.575295404262874, + -0.7006248178639964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 49.66551625103257, + 56.97721919290956, + -0.7006248178639964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 48.16551625103257, + 54.37914298155624, + -0.7006248178639964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 46.66551625103257, + 51.781066770202926, + -0.7006248178639964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 45.16551625103257, + 49.18299055884961, + -0.7006248178639964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 43.66551625103257, + 46.584914347496294, + -0.7006248178639964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 42.16551625103257, + 43.98683813614298, + -0.7006248178639964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 40.66551625103257, + 41.38876192478966, + -0.7006248178639964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 39.16551625103257, + 38.790685713436346, + -0.7006248178639964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 37.66551625103257, + 36.19260950208303, + -0.7006248178639964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 36.16551625103257, + 33.594533290729714, + -0.7006248178639964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 34.66551625103257, + 30.9964570793764, + -0.7006248178639964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 33.16551625103257, + 28.398380868023082, + -0.7006248178639964 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 33.16551625103257, + 28.398380868023082, + -0.7006248178639964 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 33.16551625103257, + 25.398380868023082, + -0.7006248178639964 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 33.16551625103257, + 22.398380868023082, + -0.7006248178639964 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 33.16551625103257, + 19.398380868023082, + -0.7006248178639964 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 33.16551625103257, + 16.398380868023082, + -0.7006248178639964 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 33.16551625103257, + 13.398380868023082, + -0.7006248178639964 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 33.16551625103257, + 10.398380868023082, + -0.7006248178639964 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 33.16551625103257, + 7.398380868023082, + -0.7006248178639964 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 33.16551625103257, + 4.398380868023082, + -0.7006248178639964 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 31.34878616333008, + 1.572951889038086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-5-0_545343058/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-5-0_545343058/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a4f0005fb6717fe76704c2d084d1633b2340d23f --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-5-0_545343058/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -44.565610134660474, + -429.9549327501598, + -1.4166077073815693 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -41.96753392330716, + -431.4549327501598, + -1.4166077073815693 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -39.36945771195384, + -432.9549327501598, + -1.4166077073815693 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -36.771381500600526, + -434.4549327501598, + -1.4166077073815693 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -34.17330528924721, + -435.9549327501598, + -1.4166077073815693 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -31.575229077893894, + -437.4549327501598, + -1.4166077073815693 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -28.977152866540578, + -438.9549327501598, + -1.4166077073815693 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -26.379076655187262, + -440.4549327501598, + -1.4166077073815693 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -23.781000443833946, + -441.9549327501598, + -1.4166077073815693 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -21.18292423248063, + -443.4549327501598, + -1.4166077073815693 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -18.584848021127314, + -444.9549327501598, + -1.4166077073815693 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -18.584848021127314, + -444.9549327501598, + -1.4166077073815693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -17.084848021127314, + -447.5530089615131, + -1.4166077073815693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -15.584848021127314, + -450.15108517286643, + -1.4166077073815693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -14.084848021127314, + -452.74916138421975, + -1.4166077073815693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -12.584848021127314, + -455.34723759557306, + -1.4166077073815693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -11.084848021127314, + -457.9453138069264, + -1.4166077073815693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -9.584848021127314, + -460.5433900182797, + -1.4166077073815693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -8.084848021127314, + -463.141466229633, + -1.4166077073815693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -6.584848021127314, + -465.7395424409863, + -1.4166077073815693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -5.084848021127314, + -468.33761865233964, + -1.4166077073815693 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3.1689678192138673, + -469.5184967041016, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-53-9_596769257/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-53-9_596769257/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f9bb8bdc87a57fbdac7d6a53cff46e4365142aab --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-53-9_596769257/pose.jsonl @@ -0,0 +1,105 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1454.672671211249, + -63.589421744409265, + -2.908782121649188 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1457.672671211249, + -63.589421744409265, + -2.908782121649188 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1460.672671211249, + -63.589421744409265, + -2.908782121649188 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1460.672671211249, + -63.589421744409265, + -2.908782121649188 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1460.672671211249, + -63.589421744409265, + -2.908782121649188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1462.172671211249, + -60.99134553305595, + -2.908782121649188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1463.672671211249, + -58.39326932170263, + -2.908782121649188 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.3544021606447, + -28.02864229679108, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-1-37_1982908766/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-1-37_1982908766/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b78259a61286e956116e22022c2443c4309bb041 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-1-37_1982908766/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1649.8073893741487, + -58.25712785808301, + -8.566954500400527 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1647.2093131627953, + -59.75712785808301, + -8.566954500400527 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1644.611236951442, + -61.25712785808301, + -8.566954500400527 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1642.0131607400886, + -62.75712785808301, + -8.566954500400527 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1639.4150845287352, + -64.25712785808301, + -8.566954500400527 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1636.8170083173818, + -65.75712785808301, + -8.566954500400527 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1634.2189321060284, + -67.25712785808301, + -8.566954500400527 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1631.620855894675, + -68.75712785808301, + -8.566954500400527 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1629.0227796833217, + -70.25712785808301, + -8.566954500400527 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1626.4247034719683, + -71.75712785808301, + -8.566954500400527 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1623.826627260615, + -73.25712785808301, + -8.566954500400527 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1621.2285510492616, + -74.75712785808301, + -8.566954500400527 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1618.6304748379082, + -76.25712785808301, + -8.566954500400527 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1618.6304748379082, + -76.25712785808301, + -8.566954500400527 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1617.1304748379082, + -78.85520406943633, + -8.566954500400527 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1615.6304748379082, + -81.45328028078964, + -8.566954500400527 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1614.1304748379082, + -84.05135649214296, + -8.566954500400527 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1612.6304748379082, + -86.64943270349627, + -8.566954500400527 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1611.1304748379082, + -89.24750891484959, + -8.566954500400527 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1609.6304748379082, + -91.8455851262029, + -8.566954500400527 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1608.1304748379082, + -94.44366133755622, + -8.566954500400527 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1608.1304748379082, + -94.44366133755622, + -8.566954500400527 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1605.5323986265548, + -95.94366133755622, + -8.566954500400527 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1602.297836303711, + -98.12757396697998, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-21-53_1970034225/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-21-53_1970034225/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..36c68ccce7204e675ec20ad51f3e1cee7faf149c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-21-53_1970034225/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 221.98084143257807, + -147.91593616293244, + -9.586850144747968 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 223.48084143257807, + -150.51401237428576, + -9.586850144747968 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 224.98084143257807, + -153.11208858563907, + -9.586850144747968 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 226.48084143257807, + -155.7101647969924, + -9.586850144747968 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 227.98084143257807, + -158.3082410083457, + -9.586850144747968 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 229.48084143257807, + -160.90631721969902, + -9.586850144747968 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 230.98084143257807, + -163.50439343105234, + -9.586850144747968 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 232.48084143257807, + -166.10246964240565, + -9.586850144747968 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 233.98084143257807, + -168.70054585375897, + -9.586850144747968 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 235.48084143257807, + -171.29862206511228, + -9.586850144747968 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 236.98084143257807, + -173.8966982764656, + -9.586850144747968 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 238.48084143257807, + -176.49477448781892, + -9.586850144747968 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 239.98084143257807, + -179.09285069917223, + -9.586850144747968 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 241.48084143257807, + -181.69092691052555, + -9.586850144747968 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 241.48084143257807, + -181.69092691052555, + -9.586850144747968 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 241.48084143257807, + -184.69092691052555, + -9.586850144747968 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 241.48084143257807, + -187.69092691052555, + -9.586850144747968 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 241.48084143257807, + -190.69092691052555, + -9.586850144747968 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 241.48084143257807, + -193.69092691052555, + -9.586850144747968 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 241.48084143257807, + -196.69092691052555, + -9.586850144747968 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 241.48084143257807, + -199.69092691052555, + -9.586850144747968 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 241.1424083709717, + -202.41772613525393, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-30-29_505631809/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-30-29_505631809/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c9cd351d1feed386b849421eadb59c436c8ba4bc --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-30-29_505631809/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1313.7089898802076, + 277.0006832211363, + -0.9447946909094451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1313.7089898802076, + 274.0006832211363, + -0.9447946909094451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1313.7089898802076, + 271.0006832211363, + -0.9447946909094451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1313.7089898802076, + 268.0006832211363, + -0.9447946909094451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1313.7089898802076, + 265.0006832211363, + -0.9447946909094451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1313.7089898802076, + 262.0006832211363, + -0.9447946909094451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1313.7089898802076, + 259.0006832211363, + -0.9447946909094451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1313.7089898802076, + 256.0006832211363, + -0.9447946909094451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1313.7089898802076, + 253.00068322113628, + -0.9447946909094451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1313.7089898802076, + 250.00068322113628, + -0.9447946909094451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1313.7089898802076, + 247.00068322113628, + -0.9447946909094451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1313.7089898802076, + 244.00068322113628, + -0.9447946909094451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1313.7089898802076, + 241.00068322113628, + -0.9447946909094451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1313.7089898802076, + 238.00068322113628, + -0.9447946909094451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1313.7089898802076, + 235.00068322113628, + -0.9447946909094451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1313.7089898802076, + 232.00068322113628, + -0.9447946909094451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1313.7089898802076, + 229.00068322113628, + -0.9447946909094451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1313.7089898802076, + 226.00068322113628, + -0.9447946909094451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1313.7089898802076, + 223.00068322113628, + -0.9447946909094451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1313.7089898802076, + 220.00068322113628, + -0.9447946909094451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1313.7089898802076, + 217.00068322113628, + -0.9447946909094451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1313.7089898802076, + 214.00068322113628, + -0.9447946909094451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1313.7089898802076, + 211.00068322113628, + -0.9447946909094451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1313.7089898802076, + 208.00068322113628, + -0.9447946909094451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1313.7089898802076, + 205.00068322113628, + -0.9447946909094451 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1313.7089898802076, + 205.00068322113628, + -0.9447946909094451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1315.2089898802076, + 202.40260700978297, + -0.9447946909094451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1316.7089898802076, + 199.80453079842965, + -0.9447946909094451 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1318.4154022216799, + 197.2680404663086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-50-3_1759726503/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-50-3_1759726503/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a53fa6eaebee0019e1e48188da85e5c18d33a401 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-50-3_1759726503/pose.jsonl @@ -0,0 +1,131 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1034.5333755141696, + 69.71456422855549, + -3.360756487983643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1033.0333755141696, + 72.3126404399088, + -3.360756487983643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1031.5333755141696, + 74.91071665126212, + -3.360756487983643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1030.0333755141696, + 77.50879286261544, + -3.360756487983643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1028.5333755141696, + 80.10686907396875, + -3.360756487983643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1027.0333755141696, + 82.70494528532207, + -3.360756487983643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1025.5333755141696, + 85.30302149667538, + -3.360756487983643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1024.0333755141696, + 87.9010977080287, + -3.360756487983643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1022.5333755141696, + 90.49917391938202, + -3.360756487983643 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 993.6485565185548, + 138.21244525909424, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-52-16_1149677717/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-52-16_1149677717/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c180c5154e42598348165b3145110354e29739e1 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-52-16_1149677717/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 472.70936363888484, + -560.7552262004168, + -8.68125036785646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 471.20936363888484, + -558.1571499890636, + -8.68125036785646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 469.70936363888484, + -555.5590737777102, + -8.68125036785646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 468.20936363888484, + -552.9609975663568, + -8.68125036785646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 466.70936363888484, + -550.3629213550034, + -8.68125036785646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 465.20936363888484, + -547.7648451436501, + -8.68125036785646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 463.70936363888484, + -545.1667689322967, + -8.68125036785646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 462.20936363888484, + -542.5686927209433, + -8.68125036785646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 460.70936363888484, + -539.97061650959, + -8.68125036785646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 459.20936363888484, + -537.3725402982366, + -8.68125036785646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 457.70936363888484, + -534.7744640868832, + -8.68125036785646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 456.20936363888484, + -532.1763878755298, + -8.68125036785646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 454.70936363888484, + -529.5783116641765, + -8.68125036785646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 453.20936363888484, + -526.9802354528231, + -8.68125036785646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 451.70936363888484, + -524.3821592414697, + -8.68125036785646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 450.20936363888484, + -521.7840830301163, + -8.68125036785646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 448.70936363888484, + -519.186006818763, + -8.68125036785646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 447.20936363888484, + -516.5879306074096, + -8.68125036785646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 445.70936363888484, + -513.9898543960562, + -8.68125036785646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 444.20936363888484, + -511.3917781847029, + -8.68125036785646 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 444.20936363888484, + -511.3917781847029, + -8.68125036785646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 444.20936363888484, + -508.3917781847029, + -8.68125036785646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 444.20936363888484, + -505.3917781847029, + -8.68125036785646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 444.20936363888484, + -502.3917781847029, + -8.68125036785646 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 443.92731246948244, + -500.4978652954102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-14-30_1769972/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-14-30_1769972/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8e34eaa988499a9b68992c441540cbbcc083ffcd --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-14-30_1769972/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 66.37893296207471, + -531.8281868070729, + -2.095248018074802 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 64.87893296207471, + -534.4262630184262, + -2.095248018074802 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 63.378932962074714, + -537.0243392297796, + -2.095248018074802 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 61.878932962074714, + -539.622415441133, + -2.095248018074802 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 60.378932962074714, + -542.2204916524863, + -2.095248018074802 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 58.878932962074714, + -544.8185678638397, + -2.095248018074802 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 57.378932962074714, + -547.4166440751931, + -2.095248018074802 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 55.878932962074714, + -550.0147202865464, + -2.095248018074802 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 54.378932962074714, + -552.6127964978998, + -2.095248018074802 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 52.878932962074714, + -555.2108727092532, + -2.095248018074802 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 51.378932962074714, + -557.8089489206066, + -2.095248018074802 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 49.878932962074714, + -560.4070251319599, + -2.095248018074802 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 48.378932962074714, + -563.0051013433133, + -2.095248018074802 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 46.878932962074714, + -565.6031775546667, + -2.095248018074802 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 45.378932962074714, + -568.20125376602, + -2.095248018074802 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 43.878932962074714, + -570.7993299773734, + -2.095248018074802 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 42.378932962074714, + -573.3974061887268, + -2.095248018074802 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 40.878932962074714, + -575.9954824000802, + -2.095248018074802 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 39.378932962074714, + -578.5935586114335, + -2.095248018074802 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 37.878932962074714, + -581.1916348227869, + -2.095248018074802 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 36.378932962074714, + -583.7897110341403, + -2.095248018074802 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 34.878932962074714, + -586.3877872454937, + -2.095248018074802 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 34.878932962074714, + -586.3877872454937, + -2.095248018074802 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 34.878932962074714, + -586.3877872454937, + -2.095248018074802 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897833 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 31.878932962074714, + -586.3877872454937, + -2.095248018074802 + ], + "type": "stop", + "value": 0, + "yaw": -3.1415926535897833 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 29.783947944641117, + -587.6620632171631, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-28-29_1743131527/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-28-29_1743131527/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d0457b033ac7d253e28e04a00e3b4c9ad3072871 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-28-29_1743131527/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1252.4681726077404, + 166.28677434212403, + -7.243481673248484 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1255.4681726077404, + 166.28677434212403, + -7.243481673248484 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1258.4681726077404, + 166.28677434212403, + -7.243481673248484 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1261.4681726077404, + 166.28677434212403, + -7.243481673248484 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1264.4681726077404, + 166.28677434212403, + -7.243481673248484 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1264.4681726077404, + 166.28677434212403, + -7.243481673248484 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1267.0662488190937, + 167.78677434212403, + -7.243481673248484 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1269.6643250304471, + 169.28677434212403, + -7.243481673248484 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1272.2624012418005, + 170.78677434212403, + -7.243481673248484 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1274.8604774531539, + 172.28677434212403, + -7.243481673248484 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1277.4585536645072, + 173.78677434212403, + -7.243481673248484 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1280.0566298758606, + 175.28677434212403, + -7.243481673248484 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1282.654706087214, + 176.78677434212403, + -7.243481673248484 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1285.2527822985674, + 178.28677434212403, + -7.243481673248484 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1287.8508585099207, + 179.78677434212403, + -7.243481673248484 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1290.448934721274, + 181.28677434212403, + -7.243481673248484 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1293.0470109326275, + 182.78677434212403, + -7.243481673248484 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1295.6450871439808, + 184.28677434212403, + -7.243481673248484 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1298.2431633553342, + 185.78677434212403, + -7.243481673248484 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1300.8412395666876, + 187.28677434212403, + -7.243481673248484 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1303.439315778041, + 188.78677434212403, + -7.243481673248484 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1306.0373919893943, + 190.28677434212403, + -7.243481673248484 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1308.6354682007477, + 191.78677434212403, + -7.243481673248484 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1311.233544412101, + 193.28677434212403, + -7.243481673248484 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1313.8316206234545, + 194.78677434212403, + -7.243481673248484 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1316.4296968348078, + 196.28677434212403, + -7.243481673248484 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1318.4154022216799, + 197.2680404663086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-34-1_1345554529/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-34-1_1345554529/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6d18e74f5d12818012ee8664930d1405783a1de7 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-34-1_1345554529/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -262.83424210262285, + -99.74968443801465, + -2.8127272077149765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -265.83424210262285, + -99.74968443801465, + -2.8127272077149765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -268.83424210262285, + -99.74968443801465, + -2.8127272077149765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -271.83424210262285, + -99.74968443801465, + -2.8127272077149765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -274.83424210262285, + -99.74968443801465, + -2.8127272077149765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -277.83424210262285, + -99.74968443801465, + -2.8127272077149765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -280.83424210262285, + -99.74968443801465, + -2.8127272077149765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -283.83424210262285, + -99.74968443801465, + -2.8127272077149765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -286.83424210262285, + -99.74968443801465, + -2.8127272077149765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -289.83424210262285, + -99.74968443801465, + -2.8127272077149765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -292.83424210262285, + -99.74968443801465, + -2.8127272077149765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -295.83424210262285, + -99.74968443801465, + -2.8127272077149765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -298.83424210262285, + -99.74968443801465, + -2.8127272077149765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -301.83424210262285, + -99.74968443801465, + -2.8127272077149765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -304.83424210262285, + -99.74968443801465, + -2.8127272077149765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -307.83424210262285, + -99.74968443801465, + -2.8127272077149765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -310.83424210262285, + -99.74968443801465, + -2.8127272077149765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -313.83424210262285, + -99.74968443801465, + -2.8127272077149765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -316.83424210262285, + -99.74968443801465, + -2.8127272077149765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -319.83424210262285, + -99.74968443801465, + -2.8127272077149765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -322.83424210262285, + -99.74968443801465, + -2.8127272077149765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -325.83424210262285, + -99.74968443801465, + -2.8127272077149765 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -325.83424210262285, + -99.74968443801465, + -2.8127272077149765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -328.43231831397617, + -98.24968443801465, + -2.8127272077149765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -331.0303945253295, + -96.74968443801465, + -2.8127272077149765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -333.6284707366828, + -95.24968443801465, + -2.8127272077149765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -336.2265469480361, + -93.74968443801465, + -2.8127272077149765 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.7922431945801, + -91.63226652145386, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-45-52_367085193/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-45-52_367085193/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a850fa1984ff9fa24ac270bebd026088a742980a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-45-52_367085193/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 956.9274733639571, + -230.65254199115836, + -5.8808751430735136 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 959.9274733639571, + -230.65254199115836, + -5.8808751430735136 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 962.9274733639571, + -230.65254199115836, + -5.8808751430735136 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 965.9274733639571, + -230.65254199115836, + -5.8808751430735136 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 968.9274733639571, + -230.65254199115836, + -5.8808751430735136 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 971.9274733639571, + -230.65254199115836, + -5.8808751430735136 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 974.9274733639571, + -230.65254199115836, + -5.8808751430735136 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 977.9274733639571, + -230.65254199115836, + -5.8808751430735136 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 980.9274733639571, + -230.65254199115836, + -5.8808751430735136 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 983.9274733639571, + -230.65254199115836, + -5.8808751430735136 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 986.9274733639571, + -230.65254199115836, + -5.8808751430735136 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 989.9274733639571, + -230.65254199115836, + -5.8808751430735136 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 992.9274733639571, + -230.65254199115836, + -5.8808751430735136 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 995.9274733639571, + -230.65254199115836, + -5.8808751430735136 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 998.9274733639571, + -230.65254199115836, + -5.8808751430735136 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1001.9274733639571, + -230.65254199115836, + -5.8808751430735136 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1004.9274733639571, + -230.65254199115836, + -5.8808751430735136 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1004.9274733639571, + -230.65254199115836, + -5.8808751430735136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1007.5255495753104, + -232.15254199115836, + -5.8808751430735136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1010.1236257866638, + -233.65254199115836, + -5.8808751430735136 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1010.1236257866638, + -233.65254199115836, + -5.8808751430735136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1011.6236257866638, + -236.25061820251167, + -5.8808751430735136 + ], + "type": "stop", + "value": 0, + "yaw": -1.047197551196588 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1031.390993499756, + -240.8672115325928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-15-36_344130872/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-15-36_344130872/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9ce296b94168518a3520d39a04b030fec063100e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-15-36_344130872/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 324.3410009374834, + -297.02419534580906, + -4.269385586527204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 322.8410009374834, + -299.6222715571624, + -4.269385586527204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 321.3410009374834, + -302.2203477685157, + -4.269385586527204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 319.8410009374834, + -304.818423979869, + -4.269385586527204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 318.3410009374834, + -307.4165001912223, + -4.269385586527204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 316.8410009374834, + -310.01457640257564, + -4.269385586527204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 315.3410009374834, + -312.61265261392896, + -4.269385586527204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 313.8410009374834, + -315.2107288252823, + -4.269385586527204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 312.3410009374834, + -317.8088050366356, + -4.269385586527204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 310.8410009374834, + -320.4068812479889, + -4.269385586527204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 309.3410009374834, + -323.0049574593422, + -4.269385586527204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 307.8410009374834, + -325.60303367069554, + -4.269385586527204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 306.3410009374834, + -328.20110988204885, + -4.269385586527204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 304.8410009374834, + -330.79918609340217, + -4.269385586527204 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 304.8410009374834, + -330.79918609340217, + -4.269385586527204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 302.24292472613007, + -332.29918609340217, + -4.269385586527204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 299.64484851477675, + -333.79918609340217, + -4.269385586527204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 297.04677230342344, + -335.29918609340217, + -4.269385586527204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 294.4486960920701, + -336.79918609340217, + -4.269385586527204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 291.8506198807168, + -338.29918609340217, + -4.269385586527204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 289.2525436693635, + -339.79918609340217, + -4.269385586527204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 286.6544674580102, + -341.29918609340217, + -4.269385586527204 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 284.2394945144654, + -340.45848770141606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-22-25_2092083088/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-22-25_2092083088/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..786e72cc1564b1f2b7a0feb6809d83019f74313f --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-22-25_2092083088/pose.jsonl @@ -0,0 +1,66 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1021.5144332818837, + -175.13606248135534, + -5.0562432748943325 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1021.5144332818837, + -178.13606248135534, + -5.0562432748943325 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1021.5144332818837, + -181.13606248135534, + -5.0562432748943325 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1021.5144332818837, + -184.13606248135534, + -5.0562432748943325 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1031.390993499756, + -240.8672115325928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-23-30_309572886/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-23-30_309572886/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e1eb909e7f08cb8902fdda333f8d0f0c43938532 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-23-30_309572886/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 295.21913482086023, + -191.1011710263192, + -2.4298957305735405 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 292.21913482086023, + -191.1011710263192, + -2.4298957305735405 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 289.21913482086023, + -191.1011710263192, + -2.4298957305735405 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 286.21913482086023, + -191.1011710263192, + -2.4298957305735405 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 283.21913482086023, + -191.1011710263192, + -2.4298957305735405 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 280.21913482086023, + -191.1011710263192, + -2.4298957305735405 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 277.21913482086023, + -191.1011710263192, + -2.4298957305735405 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 274.21913482086023, + -191.1011710263192, + -2.4298957305735405 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 271.21913482086023, + -191.1011710263192, + -2.4298957305735405 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 268.21913482086023, + -191.1011710263192, + -2.4298957305735405 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 265.21913482086023, + -191.1011710263192, + -2.4298957305735405 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 262.21913482086023, + -191.1011710263192, + -2.4298957305735405 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 262.21913482086023, + -191.1011710263192, + -2.4298957305735405 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 259.6210586095069, + -192.6011710263192, + -2.4298957305735405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 257.0229823981536, + -194.1011710263192, + -2.4298957305735405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 254.42490618680029, + -195.6011710263192, + -2.4298957305735405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 251.82682997544697, + -197.1011710263192, + -2.4298957305735405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 249.22875376409365, + -198.6011710263192, + -2.4298957305735405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 246.63067755274034, + -200.1011710263192, + -2.4298957305735405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 244.03260134138702, + -201.6011710263192, + -2.4298957305735405 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 241.1424083709717, + -202.41772613525393, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-30-11_1769615304/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-30-11_1769615304/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b73b1127f2dc1065597163e6a3dfe85094d79253 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-30-11_1769615304/pose.jsonl @@ -0,0 +1,209 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 289.63872252201384, + -192.28935803005172, + -3.835327708728556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 291.13872252201384, + -189.6912818186984, + -3.835327708728556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 292.63872252201384, + -187.09320560734508, + -3.835327708728556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 294.13872252201384, + -184.49512939599177, + -3.835327708728556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 295.63872252201384, + -181.89705318463845, + -3.835327708728556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 297.13872252201384, + -179.29897697328514, + -3.835327708728556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 298.63872252201384, + -176.70090076193182, + -3.835327708728556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 300.13872252201384, + -174.1028245505785, + -3.835327708728556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 301.63872252201384, + -171.5047483392252, + -3.835327708728556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 303.13872252201384, + -168.90667212787187, + -3.835327708728556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 304.63872252201384, + -166.30859591651856, + -3.835327708728556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 306.13872252201384, + -163.71051970516524, + -3.835327708728556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 307.63872252201384, + -161.11244349381192, + -3.835327708728556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 309.13872252201384, + -158.5143672824586, + -3.835327708728556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 310.63872252201384, + -155.9162910711053, + -3.835327708728556 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.9684103012085, + -137.41820926666261, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-34-10_728120804/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-34-10_728120804/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5ec98e534065b9a23ed63fe6013bd3286058c5d1 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-34-10_728120804/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1365.7581684668498, + -222.59470037408906, + -8.74896338322494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1368.7581684668498, + -222.59470037408906, + -8.74896338322494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1371.7581684668498, + -222.59470037408906, + -8.74896338322494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1374.7581684668498, + -222.59470037408906, + -8.74896338322494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1377.7581684668498, + -222.59470037408906, + -8.74896338322494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1380.7581684668498, + -222.59470037408906, + -8.74896338322494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1383.7581684668498, + -222.59470037408906, + -8.74896338322494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1386.7581684668498, + -222.59470037408906, + -8.74896338322494 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1386.7581684668498, + -222.59470037408906, + -8.74896338322494 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1386.7581684668498, + -222.59470037408906, + -8.74896338322494 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1388.2581684668498, + -219.99662416273574, + -8.74896338322494 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1389.7581684668498, + -217.39854795138243, + -8.74896338322494 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1391.2581684668498, + -214.8004717400291, + -8.74896338322494 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1392.7581684668498, + -212.2023955286758, + -8.74896338322494 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1394.2581684668498, + -209.60431931732248, + -8.74896338322494 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1394.2581684668498, + -209.60431931732248, + -8.74896338322494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1396.8562446782032, + -208.10431931732248, + -8.74896338322494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1399.4543208895566, + -206.60431931732248, + -8.74896338322494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1402.05239710091, + -205.10431931732248, + -8.74896338322494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1404.6504733122633, + -203.60431931732248, + -8.74896338322494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1407.2485495236167, + -202.10431931732248, + -8.74896338322494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1409.84662573497, + -200.60431931732248, + -8.74896338322494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1412.4447019463234, + -199.10431931732248, + -8.74896338322494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1415.0427781576768, + -197.60431931732248, + -8.74896338322494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1417.6408543690302, + -196.10431931732248, + -8.74896338322494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1420.2389305803836, + -194.60431931732248, + -8.74896338322494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1422.837006791737, + -193.10431931732248, + -8.74896338322494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1425.4350830030903, + -191.60431931732248, + -8.74896338322494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1428.0331592144437, + -190.10431931732248, + -8.74896338322494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1430.631235425797, + -188.60431931732248, + -8.74896338322494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1433.2293116371504, + -187.10431931732248, + -8.74896338322494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1435.8273878485038, + -185.60431931732248, + -8.74896338322494 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1437.3104949951173, + -187.02000331878662, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-41-56_1480032908/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-41-56_1480032908/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2b3e1d86f2bac911d5176cf6043d10fc89a237ed --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-41-56_1480032908/pose.jsonl @@ -0,0 +1,131 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 768.046979264657, + 140.56860976306191, + -4.6835685065027155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 769.546979264657, + 137.9705335517086, + -4.6835685065027155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 771.046979264657, + 135.37245734035528, + -4.6835685065027155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 772.546979264657, + 132.77438112900197, + -4.6835685065027155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 774.046979264657, + 130.17630491764865, + -4.6835685065027155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 775.546979264657, + 127.57822870629533, + -4.6835685065027155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 777.046979264657, + 124.98015249494202, + -4.6835685065027155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 778.546979264657, + 122.3820762835887, + -4.6835685065027155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 780.046979264657, + 119.78400007223539, + -4.6835685065027155 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 793.9949005126954, + 95.9690920829773, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-42-5_871418852/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-42-5_871418852/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eab52d18f80a073f59b2065f05321267512aa124 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-42-5_871418852/pose.jsonl @@ -0,0 +1,209 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 537.8140447934893, + -200.8241896499203, + -6.161638684067819 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 535.2159685821359, + -202.3241896499203, + -6.161638684067819 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 532.6178923707826, + -203.8241896499203, + -6.161638684067819 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 530.0198161594292, + -205.3241896499203, + -6.161638684067819 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 527.4217399480758, + -206.8241896499203, + -6.161638684067819 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 524.8236637367224, + -208.3241896499203, + -6.161638684067819 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 522.2255875253691, + -209.8241896499203, + -6.161638684067819 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 519.6275113140157, + -211.3241896499203, + -6.161638684067819 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 517.0294351026623, + -212.8241896499203, + -6.161638684067819 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 514.431358891309, + -214.3241896499203, + -6.161638684067819 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 511.83328267995563, + -215.8241896499203, + -6.161638684067819 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 509.2352064686023, + -217.3241896499203, + -6.161638684067819 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 506.637130257249, + -218.8241896499203, + -6.161638684067819 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 504.0390540458957, + -220.3241896499203, + -6.161638684067819 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 501.44097783454237, + -221.8241896499203, + -6.161638684067819 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 485.3397609710694, + -231.23137340545657, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-47-11_1968487783/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-47-11_1968487783/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a0ea45ba9fc5b17c92d5e8b431a46e41ff10b9be --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-47-11_1968487783/pose.jsonl @@ -0,0 +1,118 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 876.251491503108, + -352.45914664835726, + -4.688886847650345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 876.251491503108, + -349.45914664835726, + -4.688886847650345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 876.251491503108, + -346.45914664835726, + -4.688886847650345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 876.251491503108, + -343.45914664835726, + -4.688886847650345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 876.251491503108, + -340.45914664835726, + -4.688886847650345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 876.251491503108, + -337.45914664835726, + -4.688886847650345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 876.251491503108, + -334.45914664835726, + -4.688886847650345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 876.251491503108, + -331.45914664835726, + -4.688886847650345 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 871.2010513305664, + -278.09218101501466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-50-22_1698636143/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-50-22_1698636143/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7da38ffa27b7815b93cd9cda2be01dc6ffdd5fe9 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-50-22_1698636143/pose.jsonl @@ -0,0 +1,144 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 956.4457362664112, + -314.53508451012283, + -9.105665705625615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 954.9457362664112, + -311.9370082987695, + -9.105665705625615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 953.4457362664112, + -309.3389320874162, + -9.105665705625615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 951.9457362664112, + -306.7408558760629, + -9.105665705625615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 950.4457362664112, + -304.14277966470956, + -9.105665705625615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 948.9457362664112, + -301.54470345335625, + -9.105665705625615 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 948.9457362664112, + -301.54470345335625, + -9.105665705625615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 946.347660055058, + -300.04470345335625, + -9.105665705625615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 943.7495838437046, + -298.54470345335625, + -9.105665705625615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 941.1515076323512, + -297.04470345335625, + -9.105665705625615 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 919.2332725524903, + -271.52674827575686, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-57-16_748515749/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-57-16_748515749/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..04381c21702aa4fae1d174c81c9163b387c3889a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-57-16_748515749/pose.jsonl @@ -0,0 +1,66 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 398.7947423306601, + -276.2159622754274, + -1.6548975273910909 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 401.7947423306601, + -276.2159622754274, + -1.6548975273910909 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 401.7947423306601, + -276.2159622754274, + -1.6548975273910909 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 404.3928185420134, + -277.7159622754274, + -1.6548975273910909 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.3743118286133, + -298.84694976806645, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-16-23_647248836/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-16-23_647248836/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..34705677fdbc6422e577f67bbe67b50a42a9886c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-16-23_647248836/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 36.787529794949066, + 49.11872556409938, + -2.8817674426662645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 39.787529794949066, + 49.11872556409938, + -2.8817674426662645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 42.787529794949066, + 49.11872556409938, + -2.8817674426662645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 45.787529794949066, + 49.11872556409938, + -2.8817674426662645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 48.787529794949066, + 49.11872556409938, + -2.8817674426662645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 51.787529794949066, + 49.11872556409938, + -2.8817674426662645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 54.787529794949066, + 49.11872556409938, + -2.8817674426662645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 57.787529794949066, + 49.11872556409938, + -2.8817674426662645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 60.787529794949066, + 49.11872556409938, + -2.8817674426662645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 63.787529794949066, + 49.11872556409938, + -2.8817674426662645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 66.78752979494907, + 49.11872556409938, + -2.8817674426662645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 69.78752979494907, + 49.11872556409938, + -2.8817674426662645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 72.78752979494907, + 49.11872556409938, + -2.8817674426662645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 75.78752979494907, + 49.11872556409938, + -2.8817674426662645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 78.78752979494907, + 49.11872556409938, + -2.8817674426662645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 81.78752979494907, + 49.11872556409938, + -2.8817674426662645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 84.78752979494907, + 49.11872556409938, + -2.8817674426662645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 87.78752979494907, + 49.11872556409938, + -2.8817674426662645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 90.78752979494907, + 49.11872556409938, + -2.8817674426662645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 93.78752979494907, + 49.11872556409938, + -2.8817674426662645 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 93.78752979494907, + 49.11872556409938, + -2.8817674426662645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 96.38560600630238, + 50.61872556409938, + -2.8817674426662645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 98.9836822176557, + 52.11872556409938, + -2.8817674426662645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 101.58175842900901, + 53.61872556409938, + -2.8817674426662645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 104.17983464036233, + 55.11872556409938, + -2.8817674426662645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 106.77791085171565, + 56.61872556409938, + -2.8817674426662645 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 109.37598706306896, + 58.11872556409938, + -2.8817674426662645 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-16-37_1926585258/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-16-37_1926585258/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..67b0b6a93ef4cf7a73394e946d6b88bb2a4e1020 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-16-37_1926585258/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4.613970865873654, + -22.344770449911437, + -1.2519954981516914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 7.613970865873654, + -22.344770449911437, + -1.2519954981516914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 10.613970865873654, + -22.344770449911437, + -1.2519954981516914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 13.613970865873654, + -22.344770449911437, + -1.2519954981516914 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 13.613970865873654, + -22.344770449911437, + -1.2519954981516914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 16.21204707722697, + -23.844770449911437, + -1.2519954981516914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 18.810123288580286, + -25.344770449911437, + -1.2519954981516914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 21.408199499933602, + -26.844770449911437, + -1.2519954981516914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 24.006275711286918, + -28.344770449911437, + -1.2519954981516914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 26.604351922640234, + -29.844770449911437, + -1.2519954981516914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 29.20242813399355, + -31.344770449911437, + -1.2519954981516914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 31.800504345346866, + -32.84477044991144, + -1.2519954981516914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 34.39858055670018, + -34.34477044991144, + -1.2519954981516914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 36.9966567680535, + -35.84477044991144, + -1.2519954981516914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 39.594732979406814, + -37.34477044991144, + -1.2519954981516914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 42.19280919076013, + -38.84477044991144, + -1.2519954981516914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 44.790885402113446, + -40.34477044991144, + -1.2519954981516914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 47.38896161346676, + -41.84477044991144, + -1.2519954981516914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 49.98703782482008, + -43.34477044991144, + -1.2519954981516914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 52.585114036173394, + -44.84477044991144, + -1.2519954981516914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 55.18319024752671, + -46.34477044991144, + -1.2519954981516914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 57.781266458880026, + -47.84477044991144, + -1.2519954981516914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 60.37934267023334, + -49.34477044991144, + -1.2519954981516914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 62.97741888158666, + -50.84477044991144, + -1.2519954981516914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 65.57549509293997, + -52.34477044991144, + -1.2519954981516914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 68.17357130429329, + -53.84477044991144, + -1.2519954981516914 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 70.69211120605469, + -56.732511901855474, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-30-58_720024122/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-30-58_720024122/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..181b51eb6101ae5aeeb8b2069332f699013c47d6 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-30-58_720024122/pose.jsonl @@ -0,0 +1,248 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 811.7816233375817, + -291.1905413670434, + -0.9612513218350021 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 814.7816233375817, + -291.1905413670434, + -0.9612513218350021 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 817.7816233375817, + -291.1905413670434, + -0.9612513218350021 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 820.7816233375817, + -291.1905413670434, + -0.9612513218350021 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 823.7816233375817, + -291.1905413670434, + -0.9612513218350021 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 826.7816233375817, + -291.1905413670434, + -0.9612513218350021 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 829.7816233375817, + -291.1905413670434, + -0.9612513218350021 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 832.7816233375817, + -291.1905413670434, + -0.9612513218350021 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 835.7816233375817, + -291.1905413670434, + -0.9612513218350021 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 838.7816233375817, + -291.1905413670434, + -0.9612513218350021 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 841.7816233375817, + -291.1905413670434, + -0.9612513218350021 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 844.7816233375817, + -291.1905413670434, + -0.9612513218350021 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 847.7816233375817, + -291.1905413670434, + -0.9612513218350021 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 847.7816233375817, + -291.1905413670434, + -0.9612513218350021 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 847.7816233375817, + -291.1905413670434, + -0.9612513218350021 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 849.2816233375817, + -288.5924651556901, + -0.9612513218350021 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 850.7816233375817, + -285.9943889443368, + -0.9612513218350021 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 852.2816233375817, + -283.39631273298346, + -0.9612513218350021 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 871.2010513305664, + -278.09218101501466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-31-9_193836679/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-31-9_193836679/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..caec012ea91bb96b04fce2e039014a85547b6b62 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-31-9_193836679/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 845.5873808712464, + -278.4462863354725, + -0.4788627348626875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 848.5873808712464, + -278.4462863354725, + -0.4788627348626875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 851.5873808712464, + -278.4462863354725, + -0.4788627348626875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 854.5873808712464, + -278.4462863354725, + -0.4788627348626875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 857.5873808712464, + -278.4462863354725, + -0.4788627348626875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 860.5873808712464, + -278.4462863354725, + -0.4788627348626875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 863.5873808712464, + -278.4462863354725, + -0.4788627348626875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 866.5873808712464, + -278.4462863354725, + -0.4788627348626875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 869.5873808712464, + -278.4462863354725, + -0.4788627348626875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 872.5873808712464, + -278.4462863354725, + -0.4788627348626875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 875.5873808712464, + -278.4462863354725, + -0.4788627348626875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 878.5873808712464, + -278.4462863354725, + -0.4788627348626875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 881.5873808712464, + -278.4462863354725, + -0.4788627348626875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 884.5873808712464, + -278.4462863354725, + -0.4788627348626875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 887.5873808712464, + -278.4462863354725, + -0.4788627348626875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 890.5873808712464, + -278.4462863354725, + -0.4788627348626875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 893.5873808712464, + -278.4462863354725, + -0.4788627348626875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 896.5873808712464, + -278.4462863354725, + -0.4788627348626875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 899.5873808712464, + -278.4462863354725, + -0.4788627348626875 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 899.5873808712464, + -278.4462863354725, + -0.4788627348626875 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 899.5873808712464, + -278.4462863354725, + -0.4788627348626875 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 901.0873808712464, + -275.8482101241192, + -0.4788627348626875 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 902.5873808712464, + -273.2501339127659, + -0.4788627348626875 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 919.2332725524903, + -271.52674827575686, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-56-26_970403532/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-56-26_970403532/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e0d4b4fee9d522ae5b8d9961cd9c635f75e47388 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-56-26_970403532/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 193.89801350397826, + 227.88064277868202, + -5.138563056837214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 195.39801350397826, + 225.2825665673287, + -5.138563056837214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 196.89801350397826, + 222.68449035597538, + -5.138563056837214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 198.39801350397826, + 220.08641414462207, + -5.138563056837214 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 198.39801350397826, + 220.08641414462207, + -5.138563056837214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 200.99608971533158, + 218.58641414462207, + -5.138563056837214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 203.5941659266849, + 217.08641414462207, + -5.138563056837214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 206.1922421380382, + 215.58641414462207, + -5.138563056837214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 208.79031834939153, + 214.08641414462207, + -5.138563056837214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 211.38839456074484, + 212.58641414462207, + -5.138563056837214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 213.98647077209816, + 211.08641414462207, + -5.138563056837214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 216.58454698345147, + 209.58641414462207, + -5.138563056837214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 219.1826231948048, + 208.08641414462207, + -5.138563056837214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 221.7806994061581, + 206.58641414462207, + -5.138563056837214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 224.37877561751142, + 205.08641414462207, + -5.138563056837214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 226.97685182886474, + 203.58641414462207, + -5.138563056837214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 229.57492804021805, + 202.08641414462207, + -5.138563056837214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 232.17300425157137, + 200.58641414462207, + -5.138563056837214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 234.7710804629247, + 199.08641414462207, + -5.138563056837214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 237.369156674278, + 197.58641414462207, + -5.138563056837214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 239.96723288563132, + 196.08641414462207, + -5.138563056837214 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 243.237640953064, + 194.2933292388916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-57-15_1613950304/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-57-15_1613950304/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..17d432db8673013e19a862d39c6ec93a75aa97b0 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-57-15_1613950304/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1681.9338057296607, + -103.91244988845827, + -5.45878873735389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1678.9338057296607, + -103.91244988845827, + -5.45878873735389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1675.9338057296607, + -103.91244988845827, + -5.45878873735389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1672.9338057296607, + -103.91244988845827, + -5.45878873735389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1669.9338057296607, + -103.91244988845827, + -5.45878873735389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1666.9338057296607, + -103.91244988845827, + -5.45878873735389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1663.9338057296607, + -103.91244988845827, + -5.45878873735389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1660.9338057296607, + -103.91244988845827, + -5.45878873735389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1657.9338057296607, + -103.91244988845827, + -5.45878873735389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1654.9338057296607, + -103.91244988845827, + -5.45878873735389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1651.9338057296607, + -103.91244988845827, + -5.45878873735389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1648.9338057296607, + -103.91244988845827, + -5.45878873735389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1645.9338057296607, + -103.91244988845827, + -5.45878873735389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1642.9338057296607, + -103.91244988845827, + -5.45878873735389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1639.9338057296607, + -103.91244988845827, + -5.45878873735389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1636.9338057296607, + -103.91244988845827, + -5.45878873735389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1633.9338057296607, + -103.91244988845827, + -5.45878873735389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1630.9338057296607, + -103.91244988845827, + -5.45878873735389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1627.9338057296607, + -103.91244988845827, + -5.45878873735389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1624.9338057296607, + -103.91244988845827, + -5.45878873735389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1621.9338057296607, + -103.91244988845827, + -5.45878873735389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1618.9338057296607, + -103.91244988845827, + -5.45878873735389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1615.9338057296607, + -103.91244988845827, + -5.45878873735389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1612.9338057296607, + -103.91244988845827, + -5.45878873735389 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1612.9338057296607, + -103.91244988845827, + -5.45878873735389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1610.3357295183073, + -102.41244988845827, + -5.45878873735389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1607.737653306954, + -100.91244988845827, + -5.45878873735389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1605.1395770956005, + -99.41244988845827, + -5.45878873735389 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1602.297836303711, + -98.12757396697998, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-6-11_2130082424/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-6-11_2130082424/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8b6da79783f8a149c5a25e72eb5bb81fc3a4e169 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-6-11_2130082424/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -80.00459163694879, + -86.31331557275394, + -1.7329701493686294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -82.6026678483021, + -87.81331557275394, + -1.7329701493686294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -85.20074405965542, + -89.31331557275394, + -1.7329701493686294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -87.79882027100874, + -90.81331557275394, + -1.7329701493686294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -90.39689648236205, + -92.31331557275394, + -1.7329701493686294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -92.99497269371537, + -93.81331557275394, + -1.7329701493686294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -95.59304890506868, + -95.31331557275394, + -1.7329701493686294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -98.191125116422, + -96.81331557275394, + -1.7329701493686294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -100.78920132777532, + -98.31331557275394, + -1.7329701493686294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -103.38727753912863, + -99.81331557275394, + -1.7329701493686294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -105.98535375048195, + -101.31331557275394, + -1.7329701493686294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -108.58342996183526, + -102.81331557275394, + -1.7329701493686294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -111.18150617318858, + -104.31331557275394, + -1.7329701493686294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -113.7795823845419, + -105.81331557275394, + -1.7329701493686294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -116.37765859589521, + -107.31331557275394, + -1.7329701493686294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -118.97573480724853, + -108.81331557275394, + -1.7329701493686294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -121.57381101860184, + -110.31331557275394, + -1.7329701493686294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -124.17188722995516, + -111.81331557275394, + -1.7329701493686294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -126.76996344130848, + -113.31331557275394, + -1.7329701493686294 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -126.76996344130848, + -113.31331557275394, + -1.7329701493686294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -128.26996344130848, + -115.91139178410725, + -1.7329701493686294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -129.76996344130848, + -118.50946799546057, + -1.7329701493686294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -131.26996344130848, + -121.10754420681388, + -1.7329701493686294 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -133.47221508026124, + -121.93247375488282, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_9-13-3_1652061567/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_9-13-3_1652061567/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7bcc725496ceb0b37253d7467cc50bd85268876a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_9-13-3_1652061567/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 488.0758441922912, + -469.37956358556886, + -1.5473412058255533 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 485.47776798093787, + -470.87956358556886, + -1.5473412058255533 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 482.87969176958455, + -472.37956358556886, + -1.5473412058255533 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 480.28161555823124, + -473.87956358556886, + -1.5473412058255533 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 477.6835393468779, + -475.37956358556886, + -1.5473412058255533 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 475.0854631355246, + -476.87956358556886, + -1.5473412058255533 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 472.4873869241713, + -478.37956358556886, + -1.5473412058255533 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 469.889310712818, + -479.87956358556886, + -1.5473412058255533 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 467.29123450146466, + -481.37956358556886, + -1.5473412058255533 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 464.69315829011134, + -482.87956358556886, + -1.5473412058255533 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 462.095082078758, + -484.37956358556886, + -1.5473412058255533 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 459.4970058674047, + -485.87956358556886, + -1.5473412058255533 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 456.8989296560514, + -487.37956358556886, + -1.5473412058255533 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 454.3008534446981, + -488.87956358556886, + -1.5473412058255533 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 451.70277723334476, + -490.37956358556886, + -1.5473412058255533 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 449.10470102199145, + -491.87956358556886, + -1.5473412058255533 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 449.10470102199145, + -491.87956358556886, + -1.5473412058255533 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 447.60470102199145, + -494.4776397969222, + -1.5473412058255533 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 446.10470102199145, + -497.0757160082755, + -1.5473412058255533 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 444.60470102199145, + -499.6737922196288, + -1.5473412058255533 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 443.92731246948244, + -500.4978652954102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_9-8-49_1189153143/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_9-8-49_1189153143/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a64a8bfa9fd30b2c2880e42c12a2b2eace31012d --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_9-8-49_1189153143/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -397.6577476639831, + -77.11299733467636, + -9.505462117554718 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -394.6577476639831, + -77.11299733467636, + -9.505462117554718 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -391.6577476639831, + -77.11299733467636, + -9.505462117554718 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -388.6577476639831, + -77.11299733467636, + -9.505462117554718 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -385.6577476639831, + -77.11299733467636, + -9.505462117554718 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -382.6577476639831, + -77.11299733467636, + -9.505462117554718 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -379.6577476639831, + -77.11299733467636, + -9.505462117554718 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -376.6577476639831, + -77.11299733467636, + -9.505462117554718 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -373.6577476639831, + -77.11299733467636, + -9.505462117554718 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -370.6577476639831, + -77.11299733467636, + -9.505462117554718 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -367.6577476639831, + -77.11299733467636, + -9.505462117554718 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -364.6577476639831, + -77.11299733467636, + -9.505462117554718 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -361.6577476639831, + -77.11299733467636, + -9.505462117554718 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -361.6577476639831, + -77.11299733467636, + -9.505462117554718 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -359.0596714526298, + -78.61299733467636, + -9.505462117554718 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -356.4615952412765, + -80.11299733467636, + -9.505462117554718 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -353.86351902992317, + -81.61299733467636, + -9.505462117554718 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -351.26544281856985, + -83.11299733467636, + -9.505462117554718 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -348.66736660721654, + -84.61299733467636, + -9.505462117554718 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -346.0692903958632, + -86.11299733467636, + -9.505462117554718 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -343.4712141845099, + -87.61299733467636, + -9.505462117554718 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -340.8731379731566, + -89.11299733467636, + -9.505462117554718 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -338.2750617618033, + -90.61299733467636, + -9.505462117554718 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.7922431945801, + -91.63226652145386, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +}