diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-01-19_09-08-22_659424/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-01-19_09-08-22_659424/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fbd871733aba93a85de1ff93a318144660d6ec92 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-01-19_09-08-22_659424/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1617.8565536479243, + -1199.3667192716644, + 64.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1620.4546298592777, + -1197.8667192716644, + 64.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1623.052706070631, + -1196.3667192716644, + 64.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1625.6507822819844, + -1194.8667192716644, + 64.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1628.2488584933378, + -1193.3667192716644, + 64.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1630.8469347046912, + -1191.8667192716644, + 64.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1633.4450109160446, + -1190.3667192716644, + 64.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1636.043087127398, + -1188.8667192716644, + 64.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1638.6411633387513, + -1187.3667192716644, + 64.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1641.2392395501047, + -1185.8667192716644, + 64.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1643.837315761458, + -1184.3667192716644, + 64.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1646.4353919728114, + -1182.8667192716644, + 64.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1649.0334681841648, + -1181.3667192716644, + 64.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1651.6315443955182, + -1179.8667192716644, + 64.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1654.2296206068715, + -1178.3667192716644, + 64.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1656.827696818225, + -1176.8667192716644, + 64.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1659.4257730295783, + -1175.3667192716644, + 64.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1662.0238492409317, + -1173.8667192716644, + 64.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1664.621925452285, + -1172.3667192716644, + 64.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1667.2200016636384, + -1170.8667192716644, + 64.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1669.8180778749918, + -1169.3667192716644, + 64.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1672.4161540863452, + -1167.8667192716644, + 64.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1675.0142302976985, + -1166.3667192716644, + 64.96750143835598 + ], + "type": "go up", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1675.0142302976985, + -1166.3667192716644, + 67.96750143835598 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1675.0142302976985, + -1166.3667192716644, + 67.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1676.5142302976985, + -1163.768643060311, + 67.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1678.0142302976985, + -1161.1705668489576, + 67.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1679.5142302976985, + -1158.5724906376042, + 67.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1681.0142302976985, + -1155.9744144262509, + 67.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1682.5142302976985, + -1153.3763382148975, + 67.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1684.0142302976985, + -1150.7782620035441, + 67.96750143835598 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1684.0142302976985, + -1150.7782620035441, + 67.96750143835598 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1684.0142302976985, + -1150.7782620035441, + 67.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897833 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1687.0142302976985, + -1150.7782620035441, + 67.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1690.0142302976985, + -1150.7782620035441, + 67.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1693.0142302976985, + -1150.7782620035441, + 67.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1696.0142302976985, + -1150.7782620035441, + 67.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1699.0142302976985, + -1150.7782620035441, + 67.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1702.0142302976985, + -1150.7782620035441, + 67.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1705.0142302976985, + -1150.7782620035441, + 67.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1708.0142302976985, + -1150.7782620035441, + 67.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1711.0142302976985, + -1150.7782620035441, + 67.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1714.0142302976985, + -1150.7782620035441, + 67.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1717.0142302976985, + -1150.7782620035441, + 67.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1720.0142302976985, + -1150.7782620035441, + 67.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1723.0142302976985, + -1150.7782620035441, + 67.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1726.0142302976985, + -1150.7782620035441, + 67.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1729.0142302976985, + -1150.7782620035441, + 67.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1732.0142302976985, + -1150.7782620035441, + 67.96750143835598 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1732.0142302976985, + -1150.7782620035441, + 67.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1734.612306509052, + -1149.2782620035441, + 67.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1737.2103827204053, + -1147.7782620035441, + 67.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1739.8084589317587, + -1146.2782620035441, + 67.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1742.406535143112, + -1144.7782620035441, + 67.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1745.0046113544654, + -1143.2782620035441, + 67.96750143835598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1747.6026875658188, + -1141.7782620035441, + 67.96750143835598 + ], + "type": "go down", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -1747.6026875658188, + -1141.7782620035441, + 64.96750143835598 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1772.0, + -1128.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-01-19_09-27-37_727197/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-01-19_09-27-37_727197/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6efaf0d1790035e9b599ff0c3ebdc8dd58f90060 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-01-19_09-27-37_727197/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1498.6414570125269, + -363.07781060029174, + 44.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1497.1414570125269, + -365.67588681164506, + 44.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1495.6414570125269, + -368.2739630229984, + 44.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1494.1414570125269, + -370.8720392343517, + 44.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1492.6414570125269, + -373.470115445705, + 44.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1491.1414570125269, + -376.0681916570583, + 44.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1489.6414570125269, + -378.66626786841164, + 44.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1488.1414570125269, + -381.26434407976495, + 44.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1486.6414570125269, + -383.86242029111827, + 44.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1485.1414570125269, + -386.4604965024716, + 44.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1483.6414570125269, + -389.0585727138249, + 44.91082442310677 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1483.6414570125269, + -389.0585727138249, + 44.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1481.0433808011735, + -390.5585727138249, + 44.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1478.4453045898201, + -392.0585727138249, + 44.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1475.8472283784668, + -393.5585727138249, + 44.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1473.2491521671134, + -395.0585727138249, + 44.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1470.65107595576, + -396.5585727138249, + 44.91082442310677 + ], + "type": "go up", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1470.65107595576, + -396.5585727138249, + 47.91082442310677 + ], + "type": "go up", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1470.65107595576, + -396.5585727138249, + 50.91082442310677 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1470.65107595576, + -396.5585727138249, + 50.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1469.15107595576, + -399.1566489251782, + 50.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1467.65107595576, + -401.75472513653153, + 50.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1466.15107595576, + -404.35280134788485, + 50.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1464.65107595576, + -406.95087755923817, + 50.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1463.15107595576, + -409.5489537705915, + 50.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1461.65107595576, + -412.1470299819448, + 50.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1460.15107595576, + -414.7451061932981, + 50.91082442310677 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1460.15107595576, + -414.7451061932981, + 50.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1457.5529997444066, + -416.2451061932981, + 50.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1454.9549235330533, + -417.7451061932981, + 50.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1452.3568473217, + -419.2451061932981, + 50.91082442310677 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1452.3568473217, + -419.2451061932981, + 50.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1450.8568473217, + -421.84318240465143, + 50.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1449.3568473217, + -424.44125861600475, + 50.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1447.8568473217, + -427.03933482735806, + 50.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1446.3568473217, + -429.6374110387114, + 50.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1444.8568473217, + -432.2354872500647, + 50.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1443.3568473217, + -434.833563461418, + 50.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1441.8568473217, + -437.4316396727713, + 50.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1440.3568473217, + -440.02971588412464, + 50.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1438.8568473217, + -442.62779209547796, + 50.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1437.3568473217, + -445.2258683068313, + 50.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1435.8568473217, + -447.8239445181846, + 50.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1434.3568473217, + -450.4220207295379, + 50.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1432.8568473217, + -453.0200969408912, + 50.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1431.3568473217, + -455.61817315224454, + 50.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1429.8568473217, + -458.21624936359785, + 50.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1428.3568473217, + -460.81432557495117, + 50.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1426.8568473217, + -463.4124017863045, + 50.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1425.3568473217, + -466.0104779976578, + 50.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1423.8568473217, + -468.6085542090111, + 50.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1422.3568473217, + -471.20663042036443, + 50.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1420.8568473217, + -473.80470663171775, + 50.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1419.3568473217, + -476.40278284307107, + 50.91082442310677 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1419.3568473217, + -476.40278284307107, + 50.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1419.3568473217, + -479.40278284307107, + 50.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1419.3568473217, + -482.40278284307107, + 50.91082442310677 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1419.3568473217, + -482.40278284307107, + 47.91082442310677 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1419.3568473217, + -482.40278284307107, + 44.91082442310677 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1419.3568473217, + -485.40278284307107, + 44.91082442310677 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1408.0, + -508.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-01-19_09-33-28_139486/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-01-19_09-33-28_139486/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5e5ef8c93cca2e051f5ef474d96dd20f4d0eb85b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-01-19_09-33-28_139486/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1626.3022838894158, + 1510.4280568155998, + 42.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1626.3022838894158, + 1513.4280568155998, + 42.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1626.3022838894158, + 1516.4280568155998, + 42.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1626.3022838894158, + 1519.4280568155998, + 42.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1626.3022838894158, + 1522.4280568155998, + 42.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1626.3022838894158, + 1525.4280568155998, + 42.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1626.3022838894158, + 1528.4280568155998, + 42.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1626.3022838894158, + 1531.4280568155998, + 42.621304921299846 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1626.3022838894158, + 1531.4280568155998, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1626.3022838894158, + 1534.4280568155998, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1626.3022838894158, + 1537.4280568155998, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1626.3022838894158, + 1540.4280568155998, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1626.3022838894158, + 1543.4280568155998, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1626.3022838894158, + 1546.4280568155998, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1626.3022838894158, + 1549.4280568155998, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1626.3022838894158, + 1552.4280568155998, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1626.3022838894158, + 1555.4280568155998, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1626.3022838894158, + 1558.4280568155998, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1626.3022838894158, + 1561.4280568155998, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1626.3022838894158, + 1564.4280568155998, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1626.3022838894158, + 1567.4280568155998, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1626.3022838894158, + 1570.4280568155998, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1626.3022838894158, + 1573.4280568155998, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1626.3022838894158, + 1576.4280568155998, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1626.3022838894158, + 1579.4280568155998, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1626.3022838894158, + 1582.4280568155998, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1626.3022838894158, + 1585.4280568155998, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1626.3022838894158, + 1588.4280568155998, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1626.3022838894158, + 1591.4280568155998, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1626.3022838894158, + 1594.4280568155998, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1626.3022838894158, + 1597.4280568155998, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1626.3022838894158, + 1600.4280568155998, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1626.3022838894158, + 1603.4280568155998, + 45.621304921299846 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1626.3022838894158, + 1603.4280568155998, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1624.8022838894158, + 1606.0261330269532, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1623.3022838894158, + 1608.6242092383065, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1621.8022838894158, + 1611.22228544966, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1620.3022838894158, + 1613.8203616610133, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1618.8022838894158, + 1616.4184378723667, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1617.3022838894158, + 1619.01651408372, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1615.8022838894158, + 1621.6145902950734, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1614.3022838894158, + 1624.2126665064268, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1612.8022838894158, + 1626.8107427177802, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1611.3022838894158, + 1629.4088189291335, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1609.8022838894158, + 1632.006895140487, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1608.3022838894158, + 1634.6049713518403, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1606.8022838894158, + 1637.2030475631936, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1605.3022838894158, + 1639.801123774547, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1603.8022838894158, + 1642.3991999859004, + 45.621304921299846 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1603.8022838894158, + 1642.3991999859004, + 45.621304921299846 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1603.8022838894158, + 1642.3991999859004, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932046 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1605.3022838894158, + 1644.9972761972538, + 45.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1606.8022838894158, + 1647.5953524086071, + 45.621304921299846 + ], + "type": "go down", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1606.8022838894158, + 1647.5953524086071, + 42.621304921299846 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1606.8022838894158, + 1647.5953524086071, + 42.621304921299846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1606.8022838894158, + 1650.5953524086071, + 42.621304921299846 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948872 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1604.0, + 1680.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-01-19_10-18-57_228947/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-01-19_10-18-57_228947/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4348ee2e3da0a97f33acc48435e373784558cb0c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-01-19_10-18-57_228947/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1798.9510112673336, + 383.9151190339592, + 47.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1796.3529350559802, + 382.4151190339592, + 47.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1793.7548588446268, + 380.9151190339592, + 47.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1791.1567826332735, + 379.4151190339592, + 47.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1788.55870642192, + 377.9151190339592, + 47.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1785.9606302105667, + 376.4151190339592, + 47.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1783.3625539992133, + 374.9151190339592, + 47.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1780.76447778786, + 373.4151190339592, + 47.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1778.1664015765066, + 371.9151190339592, + 47.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1775.5683253651532, + 370.4151190339592, + 47.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1772.9702491537998, + 368.9151190339592, + 47.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1770.3721729424465, + 367.4151190339592, + 47.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1767.774096731093, + 365.9151190339592, + 47.097286081995286 + ], + "type": "go up", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1767.774096731093, + 365.9151190339592, + 50.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1765.1760205197397, + 364.4151190339592, + 50.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1762.5779443083863, + 362.9151190339592, + 50.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1759.979868097033, + 361.4151190339592, + 50.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1757.3817918856796, + 359.9151190339592, + 50.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1754.7837156743262, + 358.4151190339592, + 50.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1752.1856394629729, + 356.9151190339592, + 50.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1749.5875632516195, + 355.4151190339592, + 50.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1746.989487040266, + 353.9151190339592, + 50.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1744.3914108289127, + 352.4151190339592, + 50.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1741.7933346175594, + 350.9151190339592, + 50.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1739.195258406206, + 349.4151190339592, + 50.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1736.5971821948526, + 347.9151190339592, + 50.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1733.9991059834992, + 346.4151190339592, + 50.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1731.4010297721459, + 344.9151190339592, + 50.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1728.8029535607925, + 343.4151190339592, + 50.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1726.2048773494391, + 341.9151190339592, + 50.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1723.6068011380858, + 340.4151190339592, + 50.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1721.0087249267324, + 338.9151190339592, + 50.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1718.410648715379, + 337.4151190339592, + 50.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1715.8125725040256, + 335.9151190339592, + 50.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1713.2144962926723, + 334.4151190339592, + 50.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1710.616420081319, + 332.9151190339592, + 50.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1708.0183438699655, + 331.4151190339592, + 50.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1705.4202676586121, + 329.9151190339592, + 50.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1702.8221914472588, + 328.4151190339592, + 50.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1700.2241152359054, + 326.9151190339592, + 50.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1697.626039024552, + 325.4151190339592, + 50.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1695.0279628131987, + 323.9151190339592, + 50.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1692.4298866018453, + 322.4151190339592, + 50.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1689.831810390492, + 320.9151190339592, + 50.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1687.2337341791385, + 319.4151190339592, + 50.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1684.6356579677852, + 317.9151190339592, + 50.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1682.0375817564318, + 316.4151190339592, + 50.097286081995286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1679.4395055450784, + 314.9151190339592, + 50.097286081995286 + ], + "type": "go down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1679.4395055450784, + 314.9151190339592, + 47.097286081995286 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1660.0, + 300.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-01-19_11-16-11_585374/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-01-19_11-16-11_585374/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..816b3f2eb48a2fbca9f01ee7d80a49a1f649f0ff --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-01-19_11-16-11_585374/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1031.2046414882743, + -852.5793820741962, + 43.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1033.8027176996277, + -854.0793820741962, + 43.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1036.400793910981, + -855.5793820741962, + 43.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1038.9988701223344, + -857.0793820741962, + 43.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1041.5969463336878, + -858.5793820741962, + 43.2705424438459 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1041.5969463336878, + -858.5793820741962, + 43.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1044.5969463336878, + -858.5793820741962, + 43.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1047.5969463336878, + -858.5793820741962, + 43.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1050.5969463336878, + -858.5793820741962, + 43.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1053.5969463336878, + -858.5793820741962, + 43.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1056.5969463336878, + -858.5793820741962, + 43.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1059.5969463336878, + -858.5793820741962, + 43.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1062.5969463336878, + -858.5793820741962, + 43.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1065.5969463336878, + -858.5793820741962, + 43.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1068.5969463336878, + -858.5793820741962, + 43.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1071.5969463336878, + -858.5793820741962, + 43.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1074.5969463336878, + -858.5793820741962, + 43.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1077.5969463336878, + -858.5793820741962, + 43.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1080.5969463336878, + -858.5793820741962, + 43.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1083.5969463336878, + -858.5793820741962, + 43.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1086.5969463336878, + -858.5793820741962, + 43.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1089.5969463336878, + -858.5793820741962, + 43.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1092.5969463336878, + -858.5793820741962, + 43.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1095.5969463336878, + -858.5793820741962, + 43.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1098.5969463336878, + -858.5793820741962, + 43.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1101.5969463336878, + -858.5793820741962, + 43.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1104.5969463336878, + -858.5793820741962, + 43.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1107.5969463336878, + -858.5793820741962, + 43.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1110.5969463336878, + -858.5793820741962, + 43.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1113.5969463336878, + -858.5793820741962, + 43.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1116.5969463336878, + -858.5793820741962, + 43.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1119.5969463336878, + -858.5793820741962, + 43.2705424438459 + ], + "type": "go up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1119.5969463336878, + -858.5793820741962, + 46.2705424438459 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1119.5969463336878, + -858.5793820741962, + 46.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1122.1950225450412, + -860.0793820741962, + 46.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1124.7930987563946, + -861.5793820741962, + 46.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1127.391174967748, + -863.0793820741962, + 46.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1129.9892511791013, + -864.5793820741962, + 46.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1132.5873273904547, + -866.0793820741962, + 46.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1135.185403601808, + -867.5793820741962, + 46.2705424438459 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1135.185403601808, + -867.5793820741962, + 46.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1138.185403601808, + -867.5793820741962, + 46.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1141.185403601808, + -867.5793820741962, + 46.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1144.185403601808, + -867.5793820741962, + 46.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1147.185403601808, + -867.5793820741962, + 46.2705424438459 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1147.185403601808, + -867.5793820741962, + 46.2705424438459 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1147.185403601808, + -867.5793820741962, + 46.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1148.685403601808, + -870.1774582855496, + 46.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1150.185403601808, + -872.775534496903, + 46.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1151.685403601808, + -875.3736107082564, + 46.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1153.185403601808, + -877.9716869196097, + 46.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1154.685403601808, + -880.5697631309631, + 46.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1156.185403601808, + -883.1678393423165, + 46.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1157.685403601808, + -885.7659155536699, + 46.2705424438459 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1159.185403601808, + -888.3639917650232, + 46.2705424438459 + ], + "type": "go down", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1159.185403601808, + -888.3639917650232, + 43.2705424438459 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1180.0, + -896.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-01-19_11-51-33_365778/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-01-19_11-51-33_365778/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5ac009640bb9cb99cfe529164a56bc5ba9a6db87 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-01-19_11-51-33_365778/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1474.495367588219, + 1097.0409546443166, + 43.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1471.8972913768657, + 1095.5409546443166, + 43.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1469.2992151655124, + 1094.0409546443166, + 43.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1466.701138954159, + 1092.5409546443166, + 43.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1464.1030627428056, + 1091.0409546443166, + 43.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1461.5049865314522, + 1089.5409546443166, + 43.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1458.9069103200989, + 1088.0409546443166, + 43.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1456.3088341087455, + 1086.5409546443166, + 43.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1453.710757897392, + 1085.0409546443166, + 43.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1451.1126816860387, + 1083.5409546443166, + 43.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1448.5146054746854, + 1082.0409546443166, + 43.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1445.916529263332, + 1080.5409546443166, + 43.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1443.3184530519786, + 1079.0409546443166, + 43.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1440.7203768406252, + 1077.5409546443166, + 43.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1438.1223006292719, + 1076.0409546443166, + 43.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1435.5242244179185, + 1074.5409546443166, + 43.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1432.9261482065651, + 1073.0409546443166, + 43.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1430.3280719952118, + 1071.5409546443166, + 43.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1427.7299957838584, + 1070.0409546443166, + 43.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1425.131919572505, + 1068.5409546443166, + 43.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1422.5338433611516, + 1067.0409546443166, + 43.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1419.9357671497983, + 1065.5409546443166, + 43.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1417.337690938445, + 1064.0409546443166, + 43.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1414.7396147270915, + 1062.5409546443166, + 43.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1412.1415385157381, + 1061.0409546443166, + 43.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1409.5434623043848, + 1059.5409546443166, + 43.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1406.9453860930314, + 1058.0409546443166, + 43.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1404.347309881678, + 1056.5409546443166, + 43.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1401.7492336703247, + 1055.0409546443166, + 43.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1399.1511574589713, + 1053.5409546443166, + 43.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1396.553081247618, + 1052.0409546443166, + 43.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1393.9550050362645, + 1050.5409546443166, + 43.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1391.3569288249112, + 1049.0409546443166, + 43.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1388.7588526135578, + 1047.5409546443166, + 43.811090444128816 + ], + "type": "go up", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1388.7588526135578, + 1047.5409546443166, + 46.811090444128816 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1388.7588526135578, + 1047.5409546443166, + 46.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1387.2588526135578, + 1044.9428784329632, + 46.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1385.7588526135578, + 1042.3448022216098, + 46.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1384.2588526135578, + 1039.7467260102565, + 46.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1382.7588526135578, + 1037.148649798903, + 46.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1381.2588526135578, + 1034.5505735875497, + 46.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1379.7588526135578, + 1031.9524973761963, + 46.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1378.2588526135578, + 1029.354421164843, + 46.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1376.7588526135578, + 1026.7563449534896, + 46.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1375.2588526135578, + 1024.1582687421362, + 46.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1373.7588526135578, + 1021.5601925307828, + 46.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1372.2588526135578, + 1018.9621163194295, + 46.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1370.7588526135578, + 1016.3640401080761, + 46.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1369.2588526135578, + 1013.7659638967227, + 46.811090444128816 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1367.7588526135578, + 1011.1678876853694, + 46.811090444128816 + ], + "type": "go down", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1367.7588526135578, + 1011.1678876853694, + 43.811090444128816 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1356.0, + 1000.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_13-11-45_1330573317/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_13-11-45_1330573317/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..12d66dc9d27a9482602c823dc35daa641580df59 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_13-11-45_1330573317/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -951.3449046750038, + -632.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -954.3449046750038, + -632.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -957.3449046750038, + -632.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -960.3449046750038, + -632.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -963.3449046750038, + -632.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -966.3449046750038, + -632.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -969.3449046750038, + -632.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -972.3449046750038, + -632.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -975.3449046750038, + -632.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -978.3449046750038, + -632.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -981.3449046750038, + -632.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -984.3449046750038, + -632.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -987.3449046750038, + -632.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -990.3449046750038, + -632.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -993.3449046750038, + -632.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -996.3449046750038, + -632.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -999.3449046750038, + -632.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1002.3449046750038, + -632.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1005.3449046750038, + -632.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1008.3449046750038, + -632.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1011.3449046750038, + -632.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1014.3449046750038, + -632.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1017.3449046750038, + -632.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1020.3449046750038, + -632.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1023.3449046750038, + -632.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1026.3449046750038, + -632.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1029.3449046750038, + -632.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1032.3449046750038, + -632.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1035.3449046750038, + -632.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1038.3449046750038, + -632.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1041.3449046750038, + -632.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1044.3449046750038, + -632.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1047.3449046750038, + -632.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1050.3449046750038, + -632.8759573306214, + 58.977723787148186 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1050.3449046750038, + -632.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1052.9429808863572, + -634.3759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1055.5410570977106, + -635.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1058.139133309064, + -637.3759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1060.7372095204173, + -638.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1063.3352857317707, + -640.3759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1065.933361943124, + -641.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1068.5314381544774, + -643.3759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1071.1295143658308, + -644.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1073.7275905771842, + -646.3759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1076.3256667885375, + -647.8759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1078.923742999891, + -649.3759573306214, + 58.977723787148186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1081.5218192112443, + -650.8759573306214, + 58.977723787148186 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1104.0, + -656.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_13-38-51_2147469841/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_13-38-51_2147469841/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..94ec96ef47fecb36c9c01e11281888de6e56fbca --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_13-38-51_2147469841/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1608.4105792097034, + -1069.990454544358, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1606.9105792097034, + -1067.3923783330047, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1605.4105792097034, + -1064.7943021216513, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1603.9105792097034, + -1062.196225910298, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1602.4105792097034, + -1059.5981496989446, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1600.9105792097034, + -1057.0000734875912, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1599.4105792097034, + -1054.4019972762378, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1597.9105792097034, + -1051.8039210648844, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1596.4105792097034, + -1049.205844853531, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1594.9105792097034, + -1046.6077686421777, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1593.4105792097034, + -1044.0096924308243, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1591.9105792097034, + -1041.411616219471, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1590.4105792097034, + -1038.8135400081176, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1588.9105792097034, + -1036.2154637967642, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1587.4105792097034, + -1033.6173875854108, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1585.9105792097034, + -1031.0193113740575, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1584.4105792097034, + -1028.421235162704, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1582.9105792097034, + -1025.8231589513507, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1581.4105792097034, + -1023.2250827399973, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1579.9105792097034, + -1020.627006528644, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1578.4105792097034, + -1018.0289303172906, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1576.9105792097034, + -1015.4308541059372, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1575.4105792097034, + -1012.8327778945838, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1573.9105792097034, + -1010.2347016832305, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1572.4105792097034, + -1007.6366254718771, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1570.9105792097034, + -1005.0385492605237, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1569.4105792097034, + -1002.4404730491704, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1567.9105792097034, + -999.842396837817, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1566.4105792097034, + -997.2443206264636, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1564.9105792097034, + -994.6462444151102, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1563.4105792097034, + -992.0481682037569, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1561.9105792097034, + -989.4500919924035, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1560.4105792097034, + -986.8520157810501, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1558.9105792097034, + -984.2539395696967, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1557.4105792097034, + -981.6558633583434, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1555.9105792097034, + -979.05778714699, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1554.4105792097034, + -976.4597109356366, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1552.9105792097034, + -973.8616347242832, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1551.4105792097034, + -971.2635585129299, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1549.9105792097034, + -968.6654823015765, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1548.4105792097034, + -966.0674060902231, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1546.9105792097034, + -963.4693298788698, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1545.4105792097034, + -960.8712536675164, + 57.62696786106361 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1545.4105792097034, + -960.8712536675164, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1542.81250299835, + -959.3712536675164, + 57.62696786106361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1540.2144267869967, + -957.8712536675164, + 57.62696786106361 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1524.0, + -932.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_13-51-2_653468858/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_13-51-2_653468858/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8fb31111e6ab03fbd1a679d28013e91828f1f290 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_13-51-2_653468858/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1263.3454357722262, + -171.2591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1260.7473595608728, + -172.7591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1258.1492833495195, + -174.2591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1255.551207138166, + -175.7591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1252.9531309268127, + -177.2591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1250.3550547154593, + -178.7591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1247.756978504106, + -180.2591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1245.1589022927526, + -181.7591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1242.5608260813992, + -183.2591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1239.9627498700459, + -184.7591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1237.3646736586925, + -186.2591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1234.766597447339, + -187.7591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1232.1685212359857, + -189.2591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1229.5704450246324, + -190.7591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1226.972368813279, + -192.2591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1224.3742926019256, + -193.7591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1221.7762163905722, + -195.2591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1219.1781401792189, + -196.7591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1216.5800639678655, + -198.2591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1213.9819877565121, + -199.7591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1211.3839115451588, + -201.2591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1208.7858353338054, + -202.7591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1206.187759122452, + -204.2591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1203.5896829110986, + -205.7591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1200.9916066997453, + -207.2591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1198.393530488392, + -208.7591702471547, + 48.06352153394908 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1198.393530488392, + -208.7591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1195.393530488392, + -208.7591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1192.393530488392, + -208.7591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1189.393530488392, + -208.7591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1186.393530488392, + -208.7591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1183.393530488392, + -208.7591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1180.393530488392, + -208.7591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1177.393530488392, + -208.7591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1174.393530488392, + -208.7591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1171.393530488392, + -208.7591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1168.393530488392, + -208.7591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1165.393530488392, + -208.7591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1162.393530488392, + -208.7591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1159.393530488392, + -208.7591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1156.393530488392, + -208.7591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1153.393530488392, + -208.7591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1150.393530488392, + -208.7591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1147.393530488392, + -208.7591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1144.393530488392, + -208.7591702471547, + 48.06352153394908 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1141.393530488392, + -208.7591702471547, + 48.06352153394908 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1100.0, + -220.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_14-2-46_1504569917/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_14-2-46_1504569917/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b51d31c1b878edcca9f1246e28e65efec7905872 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_14-2-46_1504569917/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1656.8118376285308, + 454.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1656.8118376285308, + 451.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1656.8118376285308, + 448.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1656.8118376285308, + 445.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1656.8118376285308, + 442.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1656.8118376285308, + 439.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1656.8118376285308, + 436.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1656.8118376285308, + 433.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1656.8118376285308, + 430.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1656.8118376285308, + 427.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1656.8118376285308, + 424.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1656.8118376285308, + 421.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1656.8118376285308, + 418.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1656.8118376285308, + 415.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1656.8118376285308, + 412.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1656.8118376285308, + 409.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1656.8118376285308, + 406.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1656.8118376285308, + 403.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1656.8118376285308, + 400.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1656.8118376285308, + 397.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1656.8118376285308, + 394.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1656.8118376285308, + 391.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1656.8118376285308, + 388.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1656.8118376285308, + 385.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1656.8118376285308, + 382.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1656.8118376285308, + 379.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1656.8118376285308, + 376.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1656.8118376285308, + 373.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1656.8118376285308, + 370.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1656.8118376285308, + 367.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1656.8118376285308, + 364.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1656.8118376285308, + 361.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1656.8118376285308, + 358.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1656.8118376285308, + 355.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1656.8118376285308, + 352.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1656.8118376285308, + 349.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1656.8118376285308, + 346.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1656.8118376285308, + 343.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1656.8118376285308, + 340.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1656.8118376285308, + 337.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1656.8118376285308, + 334.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1656.8118376285308, + 331.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1656.8118376285308, + 328.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1656.8118376285308, + 325.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1656.8118376285308, + 322.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1656.8118376285308, + 319.09817821623625, + 47.01339314067233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1656.8118376285308, + 316.09817821623625, + 47.01339314067233 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1660.0, + 300.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_14-45-19_1943327684/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_14-45-19_1943327684/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..35b29e19c2f184bbfb3c80c2dc7a9c1acdef4682 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_14-45-19_1943327684/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1223.3343725732664, + -1565.5521362129011, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1221.8343725732664, + -1568.1502124242545, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1220.3343725732664, + -1570.7482886356079, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1218.8343725732664, + -1573.3463648469613, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1217.3343725732664, + -1575.9444410583146, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1215.8343725732664, + -1578.542517269668, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1214.3343725732664, + -1581.1405934810214, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1212.8343725732664, + -1583.7386696923747, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1211.3343725732664, + -1586.3367459037281, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1209.8343725732664, + -1588.9348221150815, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1208.3343725732664, + -1591.5328983264349, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1206.8343725732664, + -1594.1309745377882, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1205.3343725732664, + -1596.7290507491416, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1203.8343725732664, + -1599.327126960495, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1202.3343725732664, + -1601.9252031718484, + 66.56204075587081 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1202.3343725732664, + -1601.9252031718484, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1202.3343725732664, + -1604.9252031718484, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1202.3343725732664, + -1607.9252031718484, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1202.3343725732664, + -1610.9252031718484, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1202.3343725732664, + -1613.9252031718484, + 66.56204075587081 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1202.3343725732664, + -1613.9252031718484, + 66.56204075587081 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1202.3343725732664, + -1613.9252031718484, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1199.736296361913, + -1615.4252031718484, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1197.1382201505596, + -1616.9252031718484, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1194.5401439392062, + -1618.4252031718484, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1191.9420677278529, + -1619.9252031718484, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1189.3439915164995, + -1621.4252031718484, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1186.7459153051461, + -1622.9252031718484, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1184.1478390937928, + -1624.4252031718484, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1181.5497628824394, + -1625.9252031718484, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1178.951686671086, + -1627.4252031718484, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1176.3536104597326, + -1628.9252031718484, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1173.7555342483793, + -1630.4252031718484, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1171.157458037026, + -1631.9252031718484, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1168.5593818256725, + -1633.4252031718484, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1165.9613056143191, + -1634.9252031718484, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1163.3632294029658, + -1636.4252031718484, + 66.56204075587081 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1163.3632294029658, + -1636.4252031718484, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1161.8632294029658, + -1639.0232793832017, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1160.3632294029658, + -1641.621355594555, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1158.8632294029658, + -1644.2194318059085, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1157.3632294029658, + -1646.8175080172618, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1155.8632294029658, + -1649.4155842286152, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1154.3632294029658, + -1652.0136604399686, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1152.8632294029658, + -1654.611736651322, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1151.3632294029658, + -1657.2098128626753, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1149.8632294029658, + -1659.8078890740287, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1148.3632294029658, + -1662.405965285382, + 66.56204075587081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1146.8632294029658, + -1665.0040414967355, + 66.56204075587081 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1120.0, + -1704.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_14-6-21_1398295499/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_14-6-21_1398295499/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8d0342c574a4dbcfc4b92acb88843cc58b62ae97 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_14-6-21_1398295499/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -250.68289160198168, + -1581.0569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -247.68289160198168, + -1581.0569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -244.68289160198168, + -1581.0569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -241.68289160198168, + -1581.0569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -238.68289160198168, + -1581.0569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -235.68289160198168, + -1581.0569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -232.68289160198168, + -1581.0569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -229.68289160198168, + -1581.0569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -226.68289160198168, + -1581.0569531553251, + 40.89280631699797 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -226.68289160198168, + -1581.0569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -224.08481539062836, + -1579.5569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -221.48673917927505, + -1578.0569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -218.88866296792173, + -1576.5569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -216.29058675656842, + -1575.0569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -213.6925105452151, + -1573.5569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -211.09443433386178, + -1572.0569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -208.49635812250847, + -1570.5569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -205.89828191115515, + -1569.0569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -203.30020569980184, + -1567.5569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -200.70212948844852, + -1566.0569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -198.1040532770952, + -1564.5569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -195.5059770657419, + -1563.0569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -192.90790085438857, + -1561.5569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -190.30982464303526, + -1560.0569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -187.71174843168194, + -1558.5569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -185.11367222032862, + -1557.0569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -182.5155960089753, + -1555.5569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -179.917519797622, + -1554.0569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -177.31944358626868, + -1552.5569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -174.72136737491536, + -1551.0569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -172.12329116356204, + -1549.5569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -169.52521495220873, + -1548.0569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -166.9271387408554, + -1546.5569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -164.3290625295021, + -1545.0569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -161.73098631814878, + -1543.5569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -159.13291010679546, + -1542.0569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -156.53483389544215, + -1540.5569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -153.93675768408883, + -1539.0569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -151.33868147273552, + -1537.5569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -148.7406052613822, + -1536.0569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -146.14252905002888, + -1534.5569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -143.54445283867557, + -1533.0569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -140.94637662732225, + -1531.5569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -138.34830041596894, + -1530.0569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -135.75022420461562, + -1528.5569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -133.1521479932623, + -1527.0569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -130.554071781909, + -1525.5569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -127.95599557055567, + -1524.0569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -125.35791935920236, + -1522.5569531553251, + 40.89280631699797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -122.75984314784904, + -1521.0569531553251, + 40.89280631699797 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -100.0, + -1512.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_15-15-5_915256190/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_15-15-5_915256190/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e085258a9585aab1ac18a0fc894cdca3912b774e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_15-15-5_915256190/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -602.7350737072896, + -1391.5279997970713, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -600.1369974959364, + -1393.0279997970713, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -597.538921284583, + -1394.5279997970713, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -594.9408450732296, + -1396.0279997970713, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -592.3427688618763, + -1397.5279997970713, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -589.7446926505229, + -1399.0279997970713, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -587.1466164391695, + -1400.5279997970713, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -584.5485402278161, + -1402.0279997970713, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -581.9504640164628, + -1403.5279997970713, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -579.3523878051094, + -1405.0279997970713, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -576.754311593756, + -1406.5279997970713, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -574.1562353824027, + -1408.0279997970713, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -571.5581591710493, + -1409.5279997970713, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -568.9600829596959, + -1411.0279997970713, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -566.3620067483425, + -1412.5279997970713, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -563.7639305369892, + -1414.0279997970713, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -561.1658543256358, + -1415.5279997970713, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -558.5677781142824, + -1417.0279997970713, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -555.969701902929, + -1418.5279997970713, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -553.3716256915757, + -1420.0279997970713, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -550.7735494802223, + -1421.5279997970713, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -548.1754732688689, + -1423.0279997970713, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -545.5773970575156, + -1424.5279997970713, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -542.9793208461622, + -1426.0279997970713, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -540.3812446348088, + -1427.5279997970713, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -537.7831684234554, + -1429.0279997970713, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -535.1850922121021, + -1430.5279997970713, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -532.5870160007487, + -1432.0279997970713, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -529.9889397893953, + -1433.5279997970713, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -527.390863578042, + -1435.0279997970713, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -524.7927873666886, + -1436.5279997970713, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -522.1947111553352, + -1438.0279997970713, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -519.5966349439818, + -1439.5279997970713, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -516.9985587326285, + -1441.0279997970713, + 69.01939199526531 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -516.9985587326285, + -1441.0279997970713, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -515.4985587326285, + -1443.6260760084247, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -513.9985587326285, + -1446.224152219778, + 69.01939199526531 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -513.9985587326285, + -1446.224152219778, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -511.40048252127514, + -1447.724152219778, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -508.8024063099218, + -1449.224152219778, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -506.2043300985685, + -1450.724152219778, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -503.6062538872152, + -1452.224152219778, + 69.01939199526531 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -503.6062538872152, + -1452.224152219778, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -500.6062538872152, + -1452.224152219778, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -497.6062538872152, + -1452.224152219778, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -494.6062538872152, + -1452.224152219778, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -491.6062538872152, + -1452.224152219778, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -488.6062538872152, + -1452.224152219778, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -485.6062538872152, + -1452.224152219778, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -482.6062538872152, + -1452.224152219778, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -479.6062538872152, + -1452.224152219778, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -476.6062538872152, + -1452.224152219778, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -473.6062538872152, + -1452.224152219778, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -470.6062538872152, + -1452.224152219778, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -467.6062538872152, + -1452.224152219778, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -464.6062538872152, + -1452.224152219778, + 69.01939199526531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -461.6062538872152, + -1452.224152219778, + 69.01939199526531 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -444.0, + -1460.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_15-50-54_661761152/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_15-50-54_661761152/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ae63870ade6f98bf4fc83ba92877e7308887dfce --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_15-50-54_661761152/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1279.6830138034638, + 294.3260502089509, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1282.2810900148172, + 292.8260502089509, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1284.8791662261706, + 291.3260502089509, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1287.477242437524, + 289.8260502089509, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1290.0753186488773, + 288.3260502089509, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1292.6733948602307, + 286.8260502089509, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1295.271471071584, + 285.3260502089509, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1297.8695472829374, + 283.8260502089509, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1300.4676234942908, + 282.3260502089509, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1303.0656997056442, + 280.8260502089509, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1305.6637759169976, + 279.3260502089509, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1308.261852128351, + 277.8260502089509, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1310.8599283397043, + 276.3260502089509, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1313.4580045510577, + 274.8260502089509, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1316.056080762411, + 273.3260502089509, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1318.6541569737644, + 271.8260502089509, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1321.2522331851178, + 270.3260502089509, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1323.8503093964712, + 268.8260502089509, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1326.4483856078245, + 267.3260502089509, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1329.046461819178, + 265.8260502089509, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1331.6445380305313, + 264.3260502089509, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1334.2426142418847, + 262.8260502089509, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1336.840690453238, + 261.3260502089509, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1339.4387666645914, + 259.8260502089509, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1342.0368428759448, + 258.3260502089509, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1344.6349190872982, + 256.8260502089509, + 46.45910808204311 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1344.6349190872982, + 256.8260502089509, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1346.1349190872982, + 254.2279739975976, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1347.6349190872982, + 251.62989778624427, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1349.1349190872982, + 249.03182157489096, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1350.6349190872982, + 246.43374536353764, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1352.1349190872982, + 243.83566915218432, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1353.6349190872982, + 241.237592940831, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1355.1349190872982, + 238.6395167294777, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1356.6349190872982, + 236.04144051812438, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1358.1349190872982, + 233.44336430677106, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1359.6349190872982, + 230.84528809541774, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1361.1349190872982, + 228.24721188406443, + 46.45910808204311 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1361.1349190872982, + 228.24721188406443, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1363.7329952986515, + 226.74721188406443, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1366.331071510005, + 225.24721188406443, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1368.9291477213583, + 223.74721188406443, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1371.5272239327116, + 222.24721188406443, + 46.45910808204311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1374.125300144065, + 220.74721188406443, + 46.45910808204311 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1408.0, + 192.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_16-2-13_1395132002/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_16-2-13_1395132002/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..18a0186dbd236dfc767c274e226dc9541a1e5c7f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_16-2-13_1395132002/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 939.1907734149554, + -1687.3009231247463, + 65.45748384628935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 937.6907734149554, + -1689.8989993360997, + 65.45748384628935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 936.1907734149554, + -1692.497075547453, + 65.45748384628935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 934.6907734149554, + -1695.0951517588064, + 65.45748384628935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 933.1907734149554, + -1697.6932279701598, + 65.45748384628935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 931.6907734149554, + -1700.2913041815132, + 65.45748384628935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 930.1907734149554, + -1702.8893803928665, + 65.45748384628935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 928.6907734149554, + -1705.48745660422, + 65.45748384628935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 927.1907734149554, + -1708.0855328155733, + 65.45748384628935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 925.6907734149554, + -1710.6836090269267, + 65.45748384628935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 924.1907734149554, + -1713.28168523828, + 65.45748384628935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 922.6907734149554, + -1715.8797614496334, + 65.45748384628935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 921.1907734149554, + -1718.4778376609868, + 65.45748384628935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 919.6907734149554, + -1721.0759138723402, + 65.45748384628935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 918.1907734149554, + -1723.6739900836935, + 65.45748384628935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 916.6907734149554, + -1726.272066295047, + 65.45748384628935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 915.1907734149554, + -1728.8701425064003, + 65.45748384628935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 913.6907734149554, + -1731.4682187177536, + 65.45748384628935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 912.1907734149554, + -1734.066294929107, + 65.45748384628935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 910.6907734149554, + -1736.6643711404604, + 65.45748384628935 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 910.6907734149554, + -1736.6643711404604, + 65.45748384628935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 908.092697203602, + -1738.1643711404604, + 65.45748384628935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 905.4946209922487, + -1739.6643711404604, + 65.45748384628935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 902.8965447808953, + -1741.1643711404604, + 65.45748384628935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 900.2984685695419, + -1742.6643711404604, + 65.45748384628935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 897.7003923581885, + -1744.1643711404604, + 65.45748384628935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 895.1023161468352, + -1745.6643711404604, + 65.45748384628935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 892.5042399354818, + -1747.1643711404604, + 65.45748384628935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 889.9061637241284, + -1748.6643711404604, + 65.45748384628935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 887.308087512775, + -1750.1643711404604, + 65.45748384628935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 884.7100113014217, + -1751.6643711404604, + 65.45748384628935 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 836.0, + -1808.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_16-4-20_1498617647/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_16-4-20_1498617647/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..072423526e44537d4497172263c56af76cc38ca0 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_16-4-20_1498617647/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 617.5085693253211, + 376.7957030418552, + 48.298778103549786 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 619.0085693253211, + 374.19762683050186, + 48.298778103549786 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 620.5085693253211, + 371.59955061914854, + 48.298778103549786 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 622.0085693253211, + 369.00147440779523, + 48.298778103549786 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 623.5085693253211, + 366.4033981964419, + 48.298778103549786 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 625.0085693253211, + 363.8053219850886, + 48.298778103549786 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 626.5085693253211, + 361.2072457737353, + 48.298778103549786 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 628.0085693253211, + 358.60916956238196, + 48.298778103549786 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 629.5085693253211, + 356.01109335102865, + 48.298778103549786 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 631.0085693253211, + 353.41301713967533, + 48.298778103549786 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 632.5085693253211, + 350.814940928322, + 48.298778103549786 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 634.0085693253211, + 348.2168647169687, + 48.298778103549786 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 635.5085693253211, + 345.6187885056154, + 48.298778103549786 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 637.0085693253211, + 343.02071229426207, + 48.298778103549786 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 638.5085693253211, + 340.42263608290875, + 48.298778103549786 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 640.0085693253211, + 337.82455987155544, + 48.298778103549786 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 641.5085693253211, + 335.2264836602021, + 48.298778103549786 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 643.0085693253211, + 332.6284074488488, + 48.298778103549786 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 644.5085693253211, + 330.0303312374955, + 48.298778103549786 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 646.0085693253211, + 327.4322550261422, + 48.298778103549786 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 647.5085693253211, + 324.83417881478886, + 48.298778103549786 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 647.5085693253211, + 324.83417881478886, + 48.298778103549786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 650.1066455366745, + 323.33417881478886, + 48.298778103549786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 652.7047217480279, + 321.83417881478886, + 48.298778103549786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 655.3027979593812, + 320.33417881478886, + 48.298778103549786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 657.9008741707346, + 318.83417881478886, + 48.298778103549786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 660.498950382088, + 317.33417881478886, + 48.298778103549786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 663.0970265934413, + 315.83417881478886, + 48.298778103549786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 665.6951028047947, + 314.33417881478886, + 48.298778103549786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 668.2931790161481, + 312.83417881478886, + 48.298778103549786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 670.8912552275015, + 311.33417881478886, + 48.298778103549786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 673.4893314388548, + 309.83417881478886, + 48.298778103549786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 676.0874076502082, + 308.33417881478886, + 48.298778103549786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 678.6854838615616, + 306.83417881478886, + 48.298778103549786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 681.283560072915, + 305.33417881478886, + 48.298778103549786 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 681.283560072915, + 305.33417881478886, + 48.298778103549786 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 682.783560072915, + 302.73610260343554, + 48.298778103549786 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 684.283560072915, + 300.1380263920822, + 48.298778103549786 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 685.783560072915, + 297.5399501807289, + 48.298778103549786 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 728.0, + 252.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_17-57-56_107734713/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_17-57-56_107734713/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..430bf28a8fb18736d7c2e36be31f027e312afbaf --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_17-57-56_107734713/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1013.8745126321419, + -883.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1013.8745126321419, + -880.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1013.8745126321419, + -877.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1013.8745126321419, + -874.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1013.8745126321419, + -871.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1013.8745126321419, + -868.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1013.8745126321419, + -865.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1013.8745126321419, + -862.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1013.8745126321419, + -859.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1013.8745126321419, + -856.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1013.8745126321419, + -853.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1013.8745126321419, + -850.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1013.8745126321419, + -847.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1013.8745126321419, + -844.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1013.8745126321419, + -841.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1013.8745126321419, + -838.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1013.8745126321419, + -835.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1013.8745126321419, + -832.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1013.8745126321419, + -829.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1013.8745126321419, + -826.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1013.8745126321419, + -823.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1013.8745126321419, + -820.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1013.8745126321419, + -817.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1013.8745126321419, + -814.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1013.8745126321419, + -811.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1013.8745126321419, + -808.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1013.8745126321419, + -805.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1013.8745126321419, + -802.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1013.8745126321419, + -799.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1013.8745126321419, + -796.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1013.8745126321419, + -793.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1013.8745126321419, + -790.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1013.8745126321419, + -787.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1013.8745126321419, + -784.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1013.8745126321419, + -781.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1013.8745126321419, + -778.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1013.8745126321419, + -775.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1013.8745126321419, + -772.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1013.8745126321419, + -769.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1013.8745126321419, + -766.77139512384, + 47.57348654254082 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1013.8745126321419, + -766.77139512384, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1015.3745126321419, + -764.1733189124866, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1016.8745126321419, + -761.5752427011332, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1018.3745126321419, + -758.9771664897798, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1019.8745126321419, + -756.3790902784265, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1021.3745126321419, + -753.7810140670731, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1022.8745126321419, + -751.1829378557197, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1024.374512632142, + -748.5848616443664, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1025.874512632142, + -745.986785433013, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1027.374512632142, + -743.3887092216596, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1028.874512632142, + -740.7906330103062, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1030.374512632142, + -738.1925567989529, + 47.57348654254082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1031.874512632142, + -735.5944805875995, + 47.57348654254082 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1036.0, + -712.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-35-3_168057522/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-35-3_168057522/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fe5c80dd75cd2c04291cb7ada9eeb5832f70fa64 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-35-3_168057522/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1226.5500449667431, + -518.3044309200701, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1228.0500449667431, + -520.9025071314234, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1229.5500449667431, + -523.5005833427767, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1231.0500449667431, + -526.0986595541301, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1232.5500449667431, + -528.6967357654835, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1234.0500449667431, + -531.2948119768369, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1235.5500449667431, + -533.8928881881902, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1237.0500449667431, + -536.4909643995436, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1238.5500449667431, + -539.089040610897, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1240.0500449667431, + -541.6871168222503, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1241.5500449667431, + -544.2851930336037, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1243.0500449667431, + -546.8832692449571, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1244.5500449667431, + -549.4813454563105, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1246.0500449667431, + -552.0794216676638, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1247.5500449667431, + -554.6774978790172, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1249.0500449667431, + -557.2755740903706, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1250.5500449667431, + -559.873650301724, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1252.0500449667431, + -562.4717265130773, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1253.5500449667431, + -565.0698027244307, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1255.0500449667431, + -567.6678789357841, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1256.5500449667431, + -570.2659551471374, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1258.0500449667431, + -572.8640313584908, + 61.906106370151406 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1258.0500449667431, + -572.8640313584908, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1260.6481211780965, + -574.3640313584908, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1263.24619738945, + -575.8640313584908, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1265.8442736008033, + -577.3640313584908, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1268.4423498121566, + -578.8640313584908, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1271.04042602351, + -580.3640313584908, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1273.6385022348634, + -581.8640313584908, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1276.2365784462168, + -583.3640313584908, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1278.8346546575701, + -584.8640313584908, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1281.4327308689235, + -586.3640313584908, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1284.0308070802769, + -587.8640313584908, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1286.6288832916302, + -589.3640313584908, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1289.2269595029836, + -590.8640313584908, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1291.825035714337, + -592.3640313584908, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1294.4231119256904, + -593.8640313584908, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1297.0211881370437, + -595.3640313584908, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1299.619264348397, + -596.8640313584908, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1302.2173405597505, + -598.3640313584908, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1304.8154167711039, + -599.8640313584908, + 61.906106370151406 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1307.4134929824572, + -601.3640313584908, + 61.906106370151406 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1348.0, + -644.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-52-17_2106914653/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-52-17_2106914653/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4e7e42c3d9709ad9bfff8e7a850e2fa54a970eae --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-52-17_2106914653/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 114.06195684375052, + 954.4606538109812, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 111.4638806323972, + 952.9606538109812, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 108.86580442104389, + 951.4606538109812, + 63.48456104660177 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 108.86580442104389, + 951.4606538109812, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 107.36580442104389, + 948.8625775996279, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 105.86580442104389, + 946.2645013882745, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 104.36580442104389, + 943.6664251769212, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 102.86580442104389, + 941.0683489655678, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 101.36580442104389, + 938.4702727542144, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 99.86580442104389, + 935.872196542861, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 98.36580442104389, + 933.2741203315077, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 96.86580442104389, + 930.6760441201543, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 95.36580442104389, + 928.0779679088009, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 93.86580442104389, + 925.4798916974476, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 92.36580442104389, + 922.8818154860942, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 90.86580442104389, + 920.2837392747408, + 63.48456104660177 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 90.86580442104389, + 920.2837392747408, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 90.86580442104389, + 917.2837392747408, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 90.86580442104389, + 914.2837392747408, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 90.86580442104389, + 911.2837392747408, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 90.86580442104389, + 908.2837392747408, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 90.86580442104389, + 905.2837392747408, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 90.86580442104389, + 902.2837392747408, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 90.86580442104389, + 899.2837392747408, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 90.86580442104389, + 896.2837392747408, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 90.86580442104389, + 893.2837392747408, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 90.86580442104389, + 890.2837392747408, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 90.86580442104389, + 887.2837392747408, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 90.86580442104389, + 884.2837392747408, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 90.86580442104389, + 881.2837392747408, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 90.86580442104389, + 878.2837392747408, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 90.86580442104389, + 875.2837392747408, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 90.86580442104389, + 872.2837392747408, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 90.86580442104389, + 869.2837392747408, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 90.86580442104389, + 866.2837392747408, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 90.86580442104389, + 863.2837392747408, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 90.86580442104389, + 860.2837392747408, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 90.86580442104389, + 857.2837392747408, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 90.86580442104389, + 854.2837392747408, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 90.86580442104389, + 851.2837392747408, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 90.86580442104389, + 848.2837392747408, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 90.86580442104389, + 845.2837392747408, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 90.86580442104389, + 842.2837392747408, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 90.86580442104389, + 839.2837392747408, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 90.86580442104389, + 836.2837392747408, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 90.86580442104389, + 833.2837392747408, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 90.86580442104389, + 830.2837392747408, + 63.48456104660177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 90.86580442104389, + 827.2837392747408, + 63.48456104660177 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 84.0, + 796.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-58-50_245798898/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-58-50_245798898/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b21267a41101f1a3c88c6eebbd8df861444e03e3 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-58-50_245798898/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1119.9168329107154, + 52.5292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1122.5149091220687, + 54.0292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1125.112985333422, + 55.5292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1127.7110615447755, + 57.0292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1130.3091377561288, + 58.5292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1132.9072139674822, + 60.0292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1135.5052901788356, + 61.5292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1138.103366390189, + 63.0292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1140.7014426015423, + 64.5292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1143.2995188128957, + 66.0292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1145.897595024249, + 67.5292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1148.4956712356025, + 69.0292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1151.0937474469558, + 70.5292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1153.6918236583092, + 72.0292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1156.2898998696626, + 73.5292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1158.887976081016, + 75.0292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1161.4860522923693, + 76.5292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1164.0841285037227, + 78.0292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1166.682204715076, + 79.5292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1169.2802809264294, + 81.0292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1171.8783571377828, + 82.5292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1174.4764333491362, + 84.0292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1177.0745095604896, + 85.5292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1179.672585771843, + 87.0292654565597, + 63.687726736126685 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1179.672585771843, + 87.0292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1182.672585771843, + 87.0292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1185.672585771843, + 87.0292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1188.672585771843, + 87.0292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1191.672585771843, + 87.0292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1194.672585771843, + 87.0292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1197.672585771843, + 87.0292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1200.672585771843, + 87.0292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1203.672585771843, + 87.0292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1206.672585771843, + 87.0292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1209.672585771843, + 87.0292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1212.672585771843, + 87.0292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1215.672585771843, + 87.0292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1218.672585771843, + 87.0292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1221.672585771843, + 87.0292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1224.672585771843, + 87.0292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1227.672585771843, + 87.0292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1230.672585771843, + 87.0292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1233.672585771843, + 87.0292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1236.672585771843, + 87.0292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1239.672585771843, + 87.0292654565597, + 63.687726736126685 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1242.672585771843, + 87.0292654565597, + 63.687726736126685 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1284.0, + 100.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_19-46-40_1663080928/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_19-46-40_1663080928/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a63f194ecfed037a3d9dfed90674d285c01c359d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_19-46-40_1663080928/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1717.7237124786454, + -501.1565894735539, + 68.05515515808261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1720.7237124786454, + -501.1565894735539, + 68.05515515808261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1723.7237124786454, + -501.1565894735539, + 68.05515515808261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1726.7237124786454, + -501.1565894735539, + 68.05515515808261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1729.7237124786454, + -501.1565894735539, + 68.05515515808261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1732.7237124786454, + -501.1565894735539, + 68.05515515808261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1735.7237124786454, + -501.1565894735539, + 68.05515515808261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1738.7237124786454, + -501.1565894735539, + 68.05515515808261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1741.7237124786454, + -501.1565894735539, + 68.05515515808261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1744.7237124786454, + -501.1565894735539, + 68.05515515808261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1747.7237124786454, + -501.1565894735539, + 68.05515515808261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1750.7237124786454, + -501.1565894735539, + 68.05515515808261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1753.7237124786454, + -501.1565894735539, + 68.05515515808261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1756.7237124786454, + -501.1565894735539, + 68.05515515808261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1759.7237124786454, + -501.1565894735539, + 68.05515515808261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1762.7237124786454, + -501.1565894735539, + 68.05515515808261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1765.7237124786454, + -501.1565894735539, + 68.05515515808261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1768.7237124786454, + -501.1565894735539, + 68.05515515808261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1771.7237124786454, + -501.1565894735539, + 68.05515515808261 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1771.7237124786454, + -501.1565894735539, + 68.05515515808261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1774.3217886899988, + -502.6565894735539, + 68.05515515808261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1776.9198649013522, + -504.1565894735539, + 68.05515515808261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1779.5179411127056, + -505.6565894735539, + 68.05515515808261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1782.116017324059, + -507.1565894735539, + 68.05515515808261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1784.7140935354123, + -508.6565894735539, + 68.05515515808261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1787.3121697467657, + -510.1565894735539, + 68.05515515808261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1789.910245958119, + -511.6565894735539, + 68.05515515808261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1792.5083221694724, + -513.1565894735538, + 68.05515515808261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.61799387799152 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1795.1063983808258, + -514.6565894735538, + 68.05515515808261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1797.7044745921792, + -516.1565894735538, + 68.05515515808261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1800.3025508035325, + -517.6565894735538, + 68.05515515808261 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1876.0, + -536.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_19-54-8_223712350/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_19-54-8_223712350/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b5cf91e2433f07a23fa0b15d8fae742ff3066bc8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_19-54-8_223712350/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -943.968220812844, + -164.65199825091176, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -946.5662970241974, + -166.15199825091176, + 59.11808988282585 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -946.5662970241974, + -166.15199825091176, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -948.0662970241974, + -168.75007446226508, + 59.11808988282585 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -948.0662970241974, + -168.75007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -950.6643732355508, + -170.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -953.2624494469042, + -171.75007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -955.8605256582575, + -173.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -958.4586018696109, + -174.75007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -961.0566780809643, + -176.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -963.6547542923176, + -177.75007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -966.252830503671, + -179.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -968.8509067150244, + -180.75007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -971.4489829263778, + -182.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -974.0470591377311, + -183.75007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -976.6451353490845, + -185.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -979.2432115604379, + -186.75007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -981.8412877717913, + -188.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -984.4393639831446, + -189.75007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -987.037440194498, + -191.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -989.6355164058514, + -192.75007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -992.2335926172047, + -194.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -994.8316688285581, + -195.75007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -997.4297450399115, + -197.25007446226508, + 59.11808988282585 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -997.4297450399115, + -197.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1000.4297450399115, + -197.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1003.4297450399115, + -197.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1006.4297450399115, + -197.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1009.4297450399115, + -197.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1012.4297450399115, + -197.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1015.4297450399115, + -197.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1018.4297450399115, + -197.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1021.4297450399115, + -197.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1024.4297450399115, + -197.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1027.4297450399115, + -197.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1030.4297450399115, + -197.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1033.4297450399115, + -197.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1036.4297450399115, + -197.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1039.4297450399115, + -197.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1042.4297450399115, + -197.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1045.4297450399115, + -197.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1048.4297450399115, + -197.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1051.4297450399115, + -197.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1054.4297450399115, + -197.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1057.4297450399115, + -197.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1060.4297450399115, + -197.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1063.4297450399115, + -197.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1066.4297450399115, + -197.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1069.4297450399115, + -197.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1072.4297450399115, + -197.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1075.4297450399115, + -197.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1078.4297450399115, + -197.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1081.4297450399115, + -197.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1084.4297450399115, + -197.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1087.4297450399115, + -197.25007446226508, + 59.11808988282585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1090.4297450399115, + -197.25007446226508, + 59.11808988282585 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1112.0, + -200.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_19-55-15_1610009097/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_19-55-15_1610009097/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..db40431dc1f57a52a6232958ad95ae140d2ed9d9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_19-55-15_1610009097/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1117.4549767112787, + 221.16023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1114.4549767112787, + 221.16023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1111.4549767112787, + 221.16023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1108.4549767112787, + 221.16023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1105.4549767112787, + 221.16023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1102.4549767112787, + 221.16023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1099.4549767112787, + 221.16023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1096.4549767112787, + 221.16023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1093.4549767112787, + 221.16023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1090.4549767112787, + 221.16023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1087.4549767112787, + 221.16023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1084.4549767112787, + 221.16023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1081.4549767112787, + 221.16023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1078.4549767112787, + 221.16023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1075.4549767112787, + 221.16023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1072.4549767112787, + 221.16023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1069.4549767112787, + 221.16023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1066.4549767112787, + 221.16023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1063.4549767112787, + 221.16023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1060.4549767112787, + 221.16023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1057.4549767112787, + 221.16023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1054.4549767112787, + 221.16023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1051.4549767112787, + 221.16023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1048.4549767112787, + 221.16023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1045.4549767112787, + 221.16023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1042.4549767112787, + 221.16023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1039.4549767112787, + 221.16023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1036.4549767112787, + 221.16023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1033.4549767112787, + 221.16023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1030.4549767112787, + 221.16023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1027.4549767112787, + 221.16023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1024.4549767112787, + 221.16023675688137, + 63.57319764165533 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1024.4549767112787, + 221.16023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1021.8569004999254, + 222.66023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1019.258824288572, + 224.16023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1016.6607480772186, + 225.66023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1014.0626718658652, + 227.16023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1011.4645956545119, + 228.66023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1008.8665194431585, + 230.16023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1006.2684432318051, + 231.66023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1003.6703670204517, + 233.16023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1001.0722908090984, + 234.66023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 998.474214597745, + 236.16023675688137, + 63.57319764165533 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 995.8761383863916, + 237.66023675688137, + 63.57319764165533 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 956.0, + 244.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-27-7_953691761/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-27-7_953691761/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3db7c0e1cc88d1383b0144d1f6623c759386d850 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-27-7_953691761/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -377.99516361014025, + 1779.3734948120084, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -379.49516361014025, + 1776.775418600655, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -380.99516361014025, + 1774.1773423893017, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -382.49516361014025, + 1771.5792661779483, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -383.99516361014025, + 1768.981189966595, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -385.49516361014025, + 1766.3831137552415, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -386.99516361014025, + 1763.7850375438882, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -388.49516361014025, + 1761.1869613325348, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -389.99516361014025, + 1758.5888851211814, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -391.49516361014025, + 1755.990808909828, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -392.99516361014025, + 1753.3927326984747, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -394.49516361014025, + 1750.7946564871213, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -395.99516361014025, + 1748.196580275768, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -397.49516361014025, + 1745.5985040644146, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -398.99516361014025, + 1743.0004278530612, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -400.49516361014025, + 1740.4023516417078, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -401.99516361014025, + 1737.8042754303544, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -403.49516361014025, + 1735.206199219001, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -404.99516361014025, + 1732.6081230076477, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -406.49516361014025, + 1730.0100467962943, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -407.99516361014025, + 1727.411970584941, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -409.49516361014025, + 1724.8138943735876, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -410.99516361014025, + 1722.2158181622342, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -412.49516361014025, + 1719.6177419508808, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -413.99516361014025, + 1717.0196657395275, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -415.49516361014025, + 1714.421589528174, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -416.99516361014025, + 1711.8235133168207, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -418.49516361014025, + 1709.2254371054673, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -419.99516361014025, + 1706.627360894114, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -421.49516361014025, + 1704.0292846827606, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -422.99516361014025, + 1701.4312084714072, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -424.49516361014025, + 1698.8331322600538, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -425.99516361014025, + 1696.2350560487005, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -427.49516361014025, + 1693.636979837347, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -428.99516361014025, + 1691.0389036259937, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -430.49516361014025, + 1688.4408274146404, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -431.99516361014025, + 1685.842751203287, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -433.49516361014025, + 1683.2446749919336, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -434.99516361014025, + 1680.6465987805802, + 50.13359967665086 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -434.99516361014025, + 1680.6465987805802, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -434.99516361014025, + 1677.6465987805802, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -434.99516361014025, + 1674.6465987805802, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -434.99516361014025, + 1671.6465987805802, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -434.99516361014025, + 1668.6465987805802, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -434.99516361014025, + 1665.6465987805802, + 50.13359967665086 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -434.99516361014025, + 1662.6465987805802, + 50.13359967665086 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -456.0, + 1620.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-48-4_1931706506/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-48-4_1931706506/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..440a341507dd80ccf43dd541086803061d7217c8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-48-4_1931706506/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1539.8188212777902, + 680.4295550283065, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1541.3188212777902, + 683.0276312396597, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1542.8188212777902, + 685.6257074510131, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1544.3188212777902, + 688.2237836623665, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1545.8188212777902, + 690.8218598737199, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1547.3188212777902, + 693.4199360850732, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1548.8188212777902, + 696.0180122964266, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1550.3188212777902, + 698.61608850778, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1551.8188212777902, + 701.2141647191334, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1553.3188212777902, + 703.8122409304867, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1554.8188212777902, + 706.4103171418401, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1556.3188212777902, + 709.0083933531935, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1557.8188212777902, + 711.6064695645468, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1559.3188212777902, + 714.2045457759002, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1560.8188212777902, + 716.8026219872536, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1562.3188212777902, + 719.400698198607, + 68.67953344673916 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1562.3188212777902, + 719.400698198607, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1564.9168974891436, + 720.900698198607, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1567.514973700497, + 722.400698198607, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1570.1130499118503, + 723.900698198607, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1572.7111261232037, + 725.400698198607, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1575.309202334557, + 726.900698198607, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1577.9072785459105, + 728.400698198607, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1580.5053547572638, + 729.900698198607, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1583.1034309686172, + 731.400698198607, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1585.7015071799706, + 732.900698198607, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1588.299583391324, + 734.400698198607, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1590.8976596026773, + 735.900698198607, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1593.4957358140307, + 737.400698198607, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1596.093812025384, + 738.900698198607, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1598.6918882367374, + 740.400698198607, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1601.2899644480908, + 741.900698198607, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1603.8880406594442, + 743.400698198607, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1606.4861168707976, + 744.900698198607, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1609.084193082151, + 746.400698198607, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1611.6822692935043, + 747.900698198607, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1614.2803455048577, + 749.400698198607, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1616.878421716211, + 750.900698198607, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1619.4764979275644, + 752.400698198607, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1622.0745741389178, + 753.900698198607, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1624.6726503502712, + 755.400698198607, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1627.2707265616245, + 756.900698198607, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1629.868802772978, + 758.400698198607, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1632.4668789843313, + 759.900698198607, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1635.0649551956847, + 761.400698198607, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1637.663031407038, + 762.900698198607, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1640.2611076183914, + 764.400698198607, + 68.67953344673916 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1642.8591838297448, + 765.900698198607, + 68.67953344673916 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1664.0, + 784.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-56-36_1020406649/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-56-36_1020406649/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3155dffd46c255c70abfc3f000a08237d4578067 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-56-36_1020406649/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1679.8016861204846, + -350.09780831457897, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1681.3016861204846, + -352.6958845259323, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1682.8016861204846, + -355.2939607372856, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1684.3016861204846, + -357.8920369486389, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1685.8016861204846, + -360.49011315999223, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1687.3016861204846, + -363.08818937134555, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1688.8016861204846, + -365.68626558269887, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1690.3016861204846, + -368.2843417940522, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1691.8016861204846, + -370.8824180054055, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1693.3016861204846, + -373.4804942167588, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1694.8016861204846, + -376.07857042811213, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1696.3016861204846, + -378.67664663946545, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1697.8016861204846, + -381.27472285081876, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1699.3016861204846, + -383.8727990621721, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1700.8016861204846, + -386.4708752735254, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1702.3016861204846, + -389.0689514848787, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1703.8016861204846, + -391.667027696232, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1705.3016861204846, + -394.26510390758534, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1706.8016861204846, + -396.86318011893866, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1708.3016861204846, + -399.461256330292, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1709.8016861204846, + -402.0593325416453, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1711.3016861204846, + -404.6574087529986, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1712.8016861204846, + -407.2554849643519, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1714.3016861204846, + -409.85356117570524, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1715.8016861204846, + -412.45163738705855, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1717.3016861204846, + -415.04971359841187, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1718.8016861204846, + -417.6477898097652, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1720.3016861204846, + -420.2458660211185, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1721.8016861204846, + -422.8439422324718, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1723.3016861204846, + -425.44201844382513, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1724.8016861204846, + -428.04009465517845, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1726.3016861204846, + -430.63817086653177, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1727.8016861204846, + -433.2362470778851, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1729.3016861204846, + -435.8343232892384, + 57.45158401781465 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1729.3016861204846, + -435.8343232892384, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1731.899762331838, + -437.3343232892384, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1734.4978385431914, + -438.8343232892384, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1737.0959147545448, + -440.3343232892384, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1739.6939909658981, + -441.8343232892384, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1742.2920671772515, + -443.3343232892384, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1744.8901433886049, + -444.8343232892384, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1747.4882195999583, + -446.3343232892384, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1750.0862958113116, + -447.8343232892384, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1752.684372022665, + -449.3343232892384, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1755.2824482340184, + -450.8343232892384, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1757.8805244453717, + -452.3343232892384, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1760.4786006567251, + -453.8343232892384, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1763.0766768680785, + -455.3343232892384, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1765.6747530794319, + -456.8343232892384, + 57.45158401781465 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1765.6747530794319, + -456.8343232892384, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1767.1747530794319, + -459.4323995005917, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1768.6747530794319, + -462.03047571194503, + 57.45158401781465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1770.1747530794319, + -464.62855192329835, + 57.45158401781465 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1784.0, + -484.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-8-9_6072641/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-8-9_6072641/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..377819bcae2c03f4fbb24b6c0e3c91652b1644a3 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-8-9_6072641/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 813.2453064454319, + -1489.1906715569382, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 811.7453064454319, + -1491.7887477682916, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 810.2453064454319, + -1494.386823979645, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 808.7453064454319, + -1496.9849001909984, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 807.2453064454319, + -1499.5829764023517, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 805.7453064454319, + -1502.181052613705, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 804.2453064454319, + -1504.7791288250585, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 802.7453064454319, + -1507.3772050364119, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 801.2453064454319, + -1509.9752812477652, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 799.7453064454319, + -1512.5733574591186, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 798.2453064454319, + -1515.171433670472, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 796.7453064454319, + -1517.7695098818253, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 795.2453064454319, + -1520.3675860931787, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 793.7453064454319, + -1522.965662304532, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 792.2453064454319, + -1525.5637385158855, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 790.7453064454319, + -1528.1618147272388, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 789.2453064454319, + -1530.7598909385922, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 787.7453064454319, + -1533.3579671499456, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 786.2453064454319, + -1535.956043361299, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 784.7453064454319, + -1538.5541195726523, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 783.2453064454319, + -1541.1521957840057, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 781.7453064454319, + -1543.750271995359, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 780.2453064454319, + -1546.3483482067124, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 778.7453064454319, + -1548.9464244180658, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 777.2453064454319, + -1551.5445006294192, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 775.7453064454319, + -1554.1425768407726, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 774.2453064454319, + -1556.740653052126, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 772.7453064454319, + -1559.3387292634793, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 771.2453064454319, + -1561.9368054748327, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 769.7453064454319, + -1564.534881686186, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 768.2453064454319, + -1567.1329578975394, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 766.7453064454319, + -1569.7310341088928, + 42.92637382775337 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 766.7453064454319, + -1569.7310341088928, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 764.1472302340785, + -1571.2310341088928, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 761.5491540227251, + -1572.7310341088928, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 758.9510778113718, + -1574.2310341088928, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 756.3530016000184, + -1575.7310341088928, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 753.754925388665, + -1577.2310341088928, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 751.1568491773116, + -1578.7310341088928, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 748.5587729659583, + -1580.2310341088928, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 745.9606967546049, + -1581.7310341088928, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 743.3626205432515, + -1583.2310341088928, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 740.7645443318982, + -1584.7310341088928, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 738.1664681205448, + -1586.2310341088928, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 735.5683919091914, + -1587.7310341088928, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 732.970315697838, + -1589.2310341088928, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 730.3722394864847, + -1590.7310341088928, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 727.7741632751313, + -1592.2310341088928, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 725.1760870637779, + -1593.7310341088928, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 722.5780108524245, + -1595.2310341088928, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 719.9799346410712, + -1596.7310341088928, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 717.3818584297178, + -1598.2310341088928, + 42.92637382775337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 714.7837822183644, + -1599.7310341088928, + 42.92637382775337 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 696.0, + -1620.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_21-30-30_788380902/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_21-30-30_788380902/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ed96b532266c52d088575f1120f025e55cc79c73 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_21-30-30_788380902/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1351.9147131411535, + 40.06566216942993, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1353.4147131411535, + 37.46758595807661, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1354.9147131411535, + 34.869509746723296, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1356.4147131411535, + 32.27143353536998, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1357.9147131411535, + 29.673357324016663, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1359.4147131411535, + 27.075281112663347, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1360.9147131411535, + 24.47720490131003, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1362.4147131411535, + 21.879128689956715, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1363.9147131411535, + 19.2810524786034, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1365.4147131411535, + 16.682976267250083, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1366.9147131411535, + 14.084900055896767, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1368.4147131411535, + 11.486823844543451, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1369.9147131411535, + 8.888747633190135, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1371.4147131411535, + 6.290671421836819, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1372.9147131411535, + 3.6925952104835034, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1374.4147131411535, + 1.0945189991301874, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1375.9147131411535, + -1.5035572122231287, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1377.4147131411535, + -4.101633423576445, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1378.9147131411535, + -6.699709634929761, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1380.4147131411535, + -9.297785846283077, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1381.9147131411535, + -11.895862057636393, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1383.4147131411535, + -14.493938268989709, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1384.9147131411535, + -17.092014480343025, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1386.4147131411535, + -19.69009069169634, + 48.17827457564785 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1386.4147131411535, + -19.69009069169634, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1389.0127893525068, + -21.19009069169634, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1391.6108655638602, + -22.69009069169634, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1394.2089417752136, + -24.19009069169634, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1396.807017986567, + -25.69009069169634, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1399.4050941979203, + -27.19009069169634, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1402.0031704092737, + -28.69009069169634, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1404.601246620627, + -30.19009069169634, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1407.1993228319805, + -31.69009069169634, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1409.7973990433338, + -33.19009069169634, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1412.3954752546872, + -34.69009069169634, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1414.9935514660406, + -36.19009069169634, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1417.591627677394, + -37.69009069169634, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1420.1897038887473, + -39.19009069169634, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1422.7877801001007, + -40.69009069169634, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1425.385856311454, + -42.19009069169634, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1427.9839325228074, + -43.69009069169634, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1430.5820087341608, + -45.19009069169634, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1433.1800849455142, + -46.69009069169634, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1435.7781611568676, + -48.19009069169634, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1438.376237368221, + -49.69009069169634, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1440.9743135795743, + -51.19009069169634, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1443.5723897909277, + -52.69009069169634, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1446.170466002281, + -54.19009069169634, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1448.7685422136344, + -55.69009069169634, + 48.17827457564785 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1451.3666184249878, + -57.19009069169634, + 48.17827457564785 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1472.0, + -76.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_21-31-0_1321756868/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_21-31-0_1321756868/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e482b33bf879c85e5468da3b50ca2faf35fecab0 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_21-31-0_1321756868/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 67.02391872770943, + 427.04544713021176, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 67.02391872770943, + 430.04544713021176, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 67.02391872770943, + 433.04544713021176, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 67.02391872770943, + 436.04544713021176, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 67.02391872770943, + 439.04544713021176, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 67.02391872770943, + 442.04544713021176, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 67.02391872770943, + 445.04544713021176, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 67.02391872770943, + 448.04544713021176, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 67.02391872770943, + 451.04544713021176, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 67.02391872770943, + 454.04544713021176, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 67.02391872770943, + 457.04544713021176, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 67.02391872770943, + 460.04544713021176, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 67.02391872770943, + 463.04544713021176, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 67.02391872770943, + 466.04544713021176, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 67.02391872770943, + 469.04544713021176, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 67.02391872770943, + 472.04544713021176, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 67.02391872770943, + 475.04544713021176, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 67.02391872770943, + 478.04544713021176, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 67.02391872770943, + 481.04544713021176, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 67.02391872770943, + 484.04544713021176, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 67.02391872770943, + 487.04544713021176, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 67.02391872770943, + 490.04544713021176, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 67.02391872770943, + 493.04544713021176, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 67.02391872770943, + 496.04544713021176, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 67.02391872770943, + 499.04544713021176, + 45.381566404558086 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 67.02391872770943, + 499.04544713021176, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 65.52391872770943, + 501.64352334156507, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 64.02391872770943, + 504.2415995529184, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 62.52391872770943, + 506.8396757642717, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 61.02391872770943, + 509.437751975625, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 59.52391872770943, + 512.0358281869783, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 58.02391872770943, + 514.6339043983317, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 56.52391872770943, + 517.231980609685, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 55.02391872770943, + 519.8300568210384, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 53.52391872770943, + 522.4281330323918, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 52.02391872770943, + 525.0262092437451, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 50.52391872770943, + 527.6242854550985, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 49.02391872770943, + 530.2223616664519, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 47.52391872770943, + 532.8204378778053, + 45.381566404558086 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 46.02391872770943, + 535.4185140891586, + 45.381566404558086 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.0, + 576.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-1-1_1367209095/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-1-1_1367209095/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b13f412b915bb880317bcfdfdfea0b96152891ee --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-1-1_1367209095/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1180.8901599478968, + 436.7689114452001, + 61.25540882720438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1180.8901599478968, + 433.7689114452001, + 61.25540882720438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1180.8901599478968, + 430.7689114452001, + 61.25540882720438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1180.8901599478968, + 427.7689114452001, + 61.25540882720438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1180.8901599478968, + 424.7689114452001, + 61.25540882720438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1180.8901599478968, + 421.7689114452001, + 61.25540882720438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1180.8901599478968, + 418.7689114452001, + 61.25540882720438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1180.8901599478968, + 415.7689114452001, + 61.25540882720438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1180.8901599478968, + 412.7689114452001, + 61.25540882720438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1180.8901599478968, + 409.7689114452001, + 61.25540882720438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1180.8901599478968, + 406.7689114452001, + 61.25540882720438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1180.8901599478968, + 403.7689114452001, + 61.25540882720438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1180.8901599478968, + 400.7689114452001, + 61.25540882720438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1180.8901599478968, + 397.7689114452001, + 61.25540882720438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1180.8901599478968, + 394.7689114452001, + 61.25540882720438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1180.8901599478968, + 391.7689114452001, + 61.25540882720438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1180.8901599478968, + 388.7689114452001, + 61.25540882720438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1180.8901599478968, + 385.7689114452001, + 61.25540882720438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1180.8901599478968, + 382.7689114452001, + 61.25540882720438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1180.8901599478968, + 379.7689114452001, + 61.25540882720438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1180.8901599478968, + 376.7689114452001, + 61.25540882720438 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1180.8901599478968, + 376.7689114452001, + 61.25540882720438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1182.3901599478968, + 374.1708352338468, + 61.25540882720438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1183.8901599478968, + 371.57275902249347, + 61.25540882720438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1185.3901599478968, + 368.97468281114016, + 61.25540882720438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1186.8901599478968, + 366.37660659978684, + 61.25540882720438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1188.3901599478968, + 363.7785303884335, + 61.25540882720438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1189.8901599478968, + 361.1804541770802, + 61.25540882720438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1191.3901599478968, + 358.5823779657269, + 61.25540882720438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1192.8901599478968, + 355.9843017543736, + 61.25540882720438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1194.3901599478968, + 353.38622554302026, + 61.25540882720438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1195.8901599478968, + 350.78814933166694, + 61.25540882720438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1197.3901599478968, + 348.1900731203136, + 61.25540882720438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1198.8901599478968, + 345.5919969089603, + 61.25540882720438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1200.3901599478968, + 342.993920697607, + 61.25540882720438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1201.8901599478968, + 340.3958444862537, + 61.25540882720438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1203.3901599478968, + 337.79776827490036, + 61.25540882720438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1204.8901599478968, + 335.19969206354705, + 61.25540882720438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1206.3901599478968, + 332.60161585219373, + 61.25540882720438 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1220.0, + 280.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-32-13_1028363610/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-32-13_1028363610/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ab7685bb138fdd6318fc27d9000208b7c5a3f98a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-32-13_1028363610/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1576.4509627918499, + 1479.6284268589832, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1577.9509627918499, + 1482.2265030703365, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1579.4509627918499, + 1484.82457928169, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1580.9509627918499, + 1487.4226554930433, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1582.4509627918499, + 1490.0207317043967, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1583.9509627918499, + 1492.61880791575, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1585.4509627918499, + 1495.2168841271034, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1586.9509627918499, + 1497.8149603384568, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1588.4509627918499, + 1500.4130365498102, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1589.9509627918499, + 1503.0111127611635, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1591.4509627918499, + 1505.609188972517, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1592.9509627918499, + 1508.2072651838703, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1594.4509627918499, + 1510.8053413952236, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1595.9509627918499, + 1513.403417606577, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1597.4509627918499, + 1516.0014938179304, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1598.9509627918499, + 1518.5995700292838, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1600.4509627918499, + 1521.1976462406371, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1601.9509627918499, + 1523.7957224519905, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1603.4509627918499, + 1526.393798663344, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1604.9509627918499, + 1528.9918748746973, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1606.4509627918499, + 1531.5899510860506, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1607.9509627918499, + 1534.188027297404, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1609.4509627918499, + 1536.7861035087574, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1610.9509627918499, + 1539.3841797201108, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1612.4509627918499, + 1541.9822559314641, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1613.9509627918499, + 1544.5803321428175, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1615.4509627918499, + 1547.1784083541709, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1616.9509627918499, + 1549.7764845655242, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1618.4509627918499, + 1552.3745607768776, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1619.9509627918499, + 1554.972636988231, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1621.4509627918499, + 1557.5707131995844, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1622.9509627918499, + 1560.1687894109377, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1624.4509627918499, + 1562.766865622291, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1625.9509627918499, + 1565.3649418336445, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1627.4509627918499, + 1567.9630180449979, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1628.9509627918499, + 1570.5610942563512, + 63.20100165219402 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1628.9509627918499, + 1570.5610942563512, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1628.9509627918499, + 1573.5610942563512, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1628.9509627918499, + 1576.5610942563512, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1628.9509627918499, + 1579.5610942563512, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1628.9509627918499, + 1582.5610942563512, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1628.9509627918499, + 1585.5610942563512, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1628.9509627918499, + 1588.5610942563512, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1628.9509627918499, + 1591.5610942563512, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1628.9509627918499, + 1594.5610942563512, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1628.9509627918499, + 1597.5610942563512, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1628.9509627918499, + 1600.5610942563512, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1628.9509627918499, + 1603.5610942563512, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1628.9509627918499, + 1606.5610942563512, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1628.9509627918499, + 1609.5610942563512, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1628.9509627918499, + 1612.5610942563512, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1628.9509627918499, + 1615.5610942563512, + 63.20100165219402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1628.9509627918499, + 1618.5610942563512, + 63.20100165219402 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1636.0, + 1640.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-35-10_1230769829/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-35-10_1230769829/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9edb0c5fb653a410f8852a4cb0825907169dc335 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-35-10_1230769829/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 993.1286187946313, + -1311.9994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 990.530542583278, + -1313.4994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 987.9324663719246, + -1314.9994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 985.3343901605713, + -1316.4994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 982.7363139492179, + -1317.9994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 980.1382377378645, + -1319.4994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 977.5401615265112, + -1320.9994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 974.9420853151578, + -1322.4994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 972.3440091038044, + -1323.9994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 969.745932892451, + -1325.4994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 967.1478566810977, + -1326.9994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 964.5497804697443, + -1328.4994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 961.9517042583909, + -1329.9994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 959.3536280470375, + -1331.4994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 956.7555518356842, + -1332.9994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 954.1574756243308, + -1334.4994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 951.5593994129774, + -1335.9994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 948.961323201624, + -1337.4994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 946.3632469902707, + -1338.9994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 943.7651707789173, + -1340.4994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 941.1670945675639, + -1341.9994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 938.5690183562106, + -1343.4994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 935.9709421448572, + -1344.9994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 933.3728659335038, + -1346.4994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 930.7747897221504, + -1347.9994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 928.1767135107971, + -1349.4994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 925.5786372994437, + -1350.9994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 922.9805610880903, + -1352.4994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 920.382484876737, + -1353.9994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 917.7844086653836, + -1355.4994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 915.1863324540302, + -1356.9994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 912.5882562426768, + -1358.4994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 909.9901800313235, + -1359.9994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 907.3921038199701, + -1361.4994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 904.7940276086167, + -1362.9994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 902.1959513972633, + -1364.4994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 899.59787518591, + -1365.9994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 896.9997989745566, + -1367.4994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 894.4017227632032, + -1368.9994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 891.8036465518499, + -1370.4994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 889.2055703404965, + -1371.9994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 886.6074941291431, + -1373.4994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 884.0094179177897, + -1374.9994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 881.4113417064364, + -1376.4994807631497, + 67.45976516429718 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 881.4113417064364, + -1376.4994807631497, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 879.9113417064364, + -1379.097556974503, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 878.4113417064364, + -1381.6956331858564, + 67.45976516429718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 876.9113417064364, + -1384.2937093972098, + 67.45976516429718 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 860.0, + -1396.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-50-29_845954166/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-50-29_845954166/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1babb9aa82e12a5e47edb1d994dc2582a319943c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-50-29_845954166/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 186.277651712653, + 538.3264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 183.277651712653, + 538.3264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 180.277651712653, + 538.3264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 177.277651712653, + 538.3264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 174.277651712653, + 538.3264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 171.277651712653, + 538.3264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 168.277651712653, + 538.3264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 165.277651712653, + 538.3264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 162.277651712653, + 538.3264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 159.277651712653, + 538.3264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 156.277651712653, + 538.3264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 153.277651712653, + 538.3264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 150.277651712653, + 538.3264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 147.277651712653, + 538.3264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 144.277651712653, + 538.3264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 141.277651712653, + 538.3264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 138.277651712653, + 538.3264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 135.277651712653, + 538.3264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 132.277651712653, + 538.3264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 129.277651712653, + 538.3264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 126.27765171265301, + 538.3264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 123.27765171265301, + 538.3264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 120.27765171265301, + 538.3264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 117.27765171265301, + 538.3264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 114.27765171265301, + 538.3264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 111.27765171265301, + 538.3264848336603, + 57.69430128962672 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 111.27765171265301, + 538.3264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 108.6795755012997, + 539.8264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 106.08149928994638, + 541.3264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 103.48342307859306, + 542.8264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 100.88534686723975, + 544.3264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 98.28727065588643, + 545.8264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 95.68919444453311, + 547.3264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 93.0911182331798, + 548.8264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 90.49304202182648, + 550.3264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 87.89496581047317, + 551.8264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 85.29688959911985, + 553.3264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 82.69881338776653, + 554.8264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 80.10073717641322, + 556.3264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 77.5026609650599, + 557.8264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 74.90458475370659, + 559.3264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 72.30650854235327, + 560.8264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 69.70843233099995, + 562.3264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 67.11035611964664, + 563.8264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 64.51227990829332, + 565.3264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 61.91420369694001, + 566.8264848336603, + 57.69430128962672 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 59.31612748558669, + 568.3264848336603, + 57.69430128962672 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.0, + 576.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-54-6_1987106312/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-54-6_1987106312/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..db4fbb7286c7c3be84c558d7e9ee3cacec3e09dc --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-54-6_1987106312/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -895.0017937311627, + -1126.759331374699, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -896.5017937311627, + -1124.1612551633457, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -898.0017937311627, + -1121.5631789519923, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -899.5017937311627, + -1118.965102740639, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -901.0017937311627, + -1116.3670265292856, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -902.5017937311627, + -1113.7689503179322, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -904.0017937311627, + -1111.1708741065788, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -905.5017937311627, + -1108.5727978952254, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -907.0017937311627, + -1105.974721683872, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -908.5017937311627, + -1103.3766454725187, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -910.0017937311627, + -1100.7785692611653, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -911.5017937311627, + -1098.180493049812, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -913.0017937311627, + -1095.5824168384586, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -914.5017937311627, + -1092.9843406271052, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -916.0017937311627, + -1090.3862644157518, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -917.5017937311627, + -1087.7881882043985, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -919.0017937311627, + -1085.190111993045, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -920.5017937311627, + -1082.5920357816917, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -922.0017937311627, + -1079.9939595703383, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -923.5017937311627, + -1077.395883358985, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -925.0017937311627, + -1074.7978071476316, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -926.5017937311627, + -1072.1997309362782, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -928.0017937311627, + -1069.6016547249249, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -929.5017937311627, + -1067.0035785135715, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -931.0017937311627, + -1064.405502302218, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -932.5017937311627, + -1061.8074260908647, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -934.0017937311627, + -1059.2093498795114, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -935.5017937311627, + -1056.611273668158, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -937.0017937311627, + -1054.0131974568046, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -938.5017937311627, + -1051.4151212454512, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -940.0017937311627, + -1048.8170450340979, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -941.5017937311627, + -1046.2189688227445, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -943.0017937311627, + -1043.6208926113911, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -944.5017937311627, + -1041.0228164000378, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -946.0017937311627, + -1038.4247401886844, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -947.5017937311627, + -1035.826663977331, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -949.0017937311627, + -1033.2285877659776, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -950.5017937311627, + -1030.6305115546243, + 64.36548434393066 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -950.5017937311627, + -1030.6305115546243, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -953.0998699425161, + -1029.1305115546243, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -955.6979461538695, + -1027.6305115546243, + 64.36548434393066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -958.2960223652228, + -1026.1305115546243, + 64.36548434393066 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -976.0, + -1000.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-58-27_1907712995/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-58-27_1907712995/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b474e86ddf535eb8fa23dca60cf553303a9c42f9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-58-27_1907712995/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -992.5747341467323, + 1422.48711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -995.1728103580856, + 1423.98711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -997.770886569439, + 1425.48711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1000.3689627807923, + 1426.98711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1002.9670389921457, + 1428.48711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1005.5651152034991, + 1429.98711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1008.1631914148525, + 1431.48711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1010.7612676262058, + 1432.98711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1013.3593438375592, + 1434.48711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1015.9574200489126, + 1435.98711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1018.555496260266, + 1437.48711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1021.1535724716193, + 1438.98711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1023.7516486829727, + 1440.48711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1026.349724894326, + 1441.98711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1028.9478011056794, + 1443.48711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1031.5458773170328, + 1444.98711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1034.1439535283862, + 1446.48711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1036.7420297397396, + 1447.98711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1039.340105951093, + 1449.48711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1041.9381821624463, + 1450.98711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1044.5362583737997, + 1452.48711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1047.134334585153, + 1453.98711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1049.7324107965064, + 1455.48711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1052.3304870078598, + 1456.98711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1054.9285632192132, + 1458.48711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1057.5266394305665, + 1459.98711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1060.12471564192, + 1461.48711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1062.7227918532733, + 1462.98711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1065.3208680646267, + 1464.48711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1067.91894427598, + 1465.98711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1070.5170204873334, + 1467.48711484719, + 52.537588294599885 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1070.5170204873334, + 1467.48711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1073.5170204873334, + 1467.48711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1076.5170204873334, + 1467.48711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1079.5170204873334, + 1467.48711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1082.5170204873334, + 1467.48711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1085.5170204873334, + 1467.48711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1088.5170204873334, + 1467.48711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1091.5170204873334, + 1467.48711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1094.5170204873334, + 1467.48711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1097.5170204873334, + 1467.48711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1100.5170204873334, + 1467.48711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1103.5170204873334, + 1467.48711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1106.5170204873334, + 1467.48711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1109.5170204873334, + 1467.48711484719, + 52.537588294599885 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1112.5170204873334, + 1467.48711484719, + 52.537588294599885 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1140.0, + 1480.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-22-3_1245036421/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-22-3_1245036421/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a5fb4a5288d73b4b765537fe8b47d98121b6ec96 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-22-3_1245036421/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1283.2942845142657, + 219.89606805320705, + 40.54343397513403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1284.7942845142657, + 222.49414426456036, + 40.54343397513403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1286.2942845142657, + 225.09222047591368, + 40.54343397513403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1287.7942845142657, + 227.690296687267, + 40.54343397513403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1289.2942845142657, + 230.2883728986203, + 40.54343397513403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1290.7942845142657, + 232.88644910997363, + 40.54343397513403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1292.2942845142657, + 235.48452532132694, + 40.54343397513403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1293.7942845142657, + 238.08260153268026, + 40.54343397513403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1295.2942845142657, + 240.68067774403357, + 40.54343397513403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1296.7942845142657, + 243.2787539553869, + 40.54343397513403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1298.2942845142657, + 245.8768301667402, + 40.54343397513403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1299.7942845142657, + 248.47490637809352, + 40.54343397513403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1301.2942845142657, + 251.07298258944684, + 40.54343397513403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1302.7942845142657, + 253.67105880080015, + 40.54343397513403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1304.2942845142657, + 256.26913501215347, + 40.54343397513403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1305.7942845142657, + 258.8672112235068, + 40.54343397513403 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1305.7942845142657, + 258.8672112235068, + 40.54343397513403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1305.7942845142657, + 261.8672112235068, + 40.54343397513403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1305.7942845142657, + 264.8672112235068, + 40.54343397513403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1305.7942845142657, + 267.8672112235068, + 40.54343397513403 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1305.7942845142657, + 267.8672112235068, + 40.54343397513403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1307.2942845142657, + 270.4652874348601, + 40.54343397513403 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1307.2942845142657, + 270.4652874348601, + 40.54343397513403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1309.892360725619, + 271.9652874348601, + 40.54343397513403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1312.4904369369724, + 273.4652874348601, + 40.54343397513403 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1312.4904369369724, + 273.4652874348601, + 40.54343397513403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1313.9904369369724, + 276.0633636462134, + 40.54343397513403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1315.4904369369724, + 278.66143985756673, + 40.54343397513403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1316.9904369369724, + 281.25951606892005, + 40.54343397513403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1318.4904369369724, + 283.85759228027337, + 40.54343397513403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1319.9904369369724, + 286.4556684916267, + 40.54343397513403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1321.4904369369724, + 289.05374470298, + 40.54343397513403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1322.9904369369724, + 291.6518209143333, + 40.54343397513403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1324.4904369369724, + 294.24989712568663, + 40.54343397513403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1325.9904369369724, + 296.84797333703995, + 40.54343397513403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1327.4904369369724, + 299.44604954839326, + 40.54343397513403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1328.9904369369724, + 302.0441257597466, + 40.54343397513403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1330.4904369369724, + 304.6422019710999, + 40.54343397513403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1331.9904369369724, + 307.2402781824532, + 40.54343397513403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1333.4904369369724, + 309.8383543938065, + 40.54343397513403 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1364.0, + 360.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-29-33_922587542/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-29-33_922587542/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4344c00e29d923adaf0682fa6ec2da50d33be503 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-29-33_922587542/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1703.1553580363395, + -843.2164415603405, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1704.6553580363395, + -840.6183653489873, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1706.1553580363395, + -838.0202891376339, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1707.6553580363395, + -835.4222129262805, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1709.1553580363395, + -832.8241367149271, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1710.6553580363395, + -830.2260605035738, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1712.1553580363395, + -827.6279842922204, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1713.6553580363395, + -825.029908080867, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1715.1553580363395, + -822.4318318695136, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1716.6553580363395, + -819.8337556581603, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1718.1553580363395, + -817.2356794468069, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1719.6553580363395, + -814.6376032354535, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1721.1553580363395, + -812.0395270241002, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1722.6553580363395, + -809.4414508127468, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1724.1553580363395, + -806.8433746013934, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1725.6553580363395, + -804.24529839004, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1727.1553580363395, + -801.6472221786867, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1728.6553580363395, + -799.0491459673333, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1730.1553580363395, + -796.4510697559799, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1731.6553580363395, + -793.8529935446265, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1733.1553580363395, + -791.2549173332732, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1734.6553580363395, + -788.6568411219198, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1736.1553580363395, + -786.0587649105664, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1737.6553580363395, + -783.460688699213, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1739.1553580363395, + -780.8626124878597, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1740.6553580363395, + -778.2645362765063, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1742.1553580363395, + -775.6664600651529, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1743.6553580363395, + -773.0683838537996, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1745.1553580363395, + -770.4703076424462, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1746.6553580363395, + -767.8722314310928, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1748.1553580363395, + -765.2741552197394, + 63.96791059216534 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1748.1553580363395, + -765.2741552197394, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1748.1553580363395, + -762.2741552197394, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1748.1553580363395, + -759.2741552197394, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1748.1553580363395, + -756.2741552197394, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1748.1553580363395, + -753.2741552197394, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1748.1553580363395, + -750.2741552197394, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1748.1553580363395, + -747.2741552197394, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1748.1553580363395, + -744.2741552197394, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1748.1553580363395, + -741.2741552197394, + 63.96791059216534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1748.1553580363395, + -738.2741552197394, + 63.96791059216534 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1772.0, + -688.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-46-50_457676440/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-46-50_457676440/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c80a3dbe3b54173ff9d45d6d7cd69a35551e98de --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-46-50_457676440/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1009.627074125901, + 1242.756559104886, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1008.127074125901, + 1240.1584828935327, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1006.627074125901, + 1237.5604066821793, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1005.127074125901, + 1234.962330470826, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1003.627074125901, + 1232.3642542594725, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1002.127074125901, + 1229.7661780481192, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1000.627074125901, + 1227.1681018367658, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 999.127074125901, + 1224.5700256254124, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 997.627074125901, + 1221.971949414059, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 996.127074125901, + 1219.3738732027057, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 994.627074125901, + 1216.7757969913523, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 993.127074125901, + 1214.177720779999, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 991.627074125901, + 1211.5796445686456, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 990.127074125901, + 1208.9815683572922, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 988.627074125901, + 1206.3834921459388, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 987.127074125901, + 1203.7854159345854, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 985.627074125901, + 1201.187339723232, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 984.127074125901, + 1198.5892635118787, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 982.627074125901, + 1195.9911873005253, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 981.127074125901, + 1193.393111089172, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 979.627074125901, + 1190.7950348778186, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 978.127074125901, + 1188.1969586664652, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 976.627074125901, + 1185.5988824551118, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 975.127074125901, + 1183.0008062437585, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 973.627074125901, + 1180.402730032405, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 972.127074125901, + 1177.8046538210517, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 970.627074125901, + 1175.2065776096983, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 969.127074125901, + 1172.608501398345, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 967.627074125901, + 1170.0104251869916, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 966.127074125901, + 1167.4123489756382, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 964.627074125901, + 1164.8142727642849, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 963.127074125901, + 1162.2161965529315, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 961.627074125901, + 1159.618120341578, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 960.127074125901, + 1157.0200441302247, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 958.627074125901, + 1154.4219679188714, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 957.127074125901, + 1151.823891707518, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 955.627074125901, + 1149.2258154961646, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 954.127074125901, + 1146.6277392848112, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 952.627074125901, + 1144.0296630734579, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 951.127074125901, + 1141.4315868621045, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 949.627074125901, + 1138.8335106507511, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 948.127074125901, + 1136.2354344393977, + 62.05063540305763 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 948.127074125901, + 1136.2354344393977, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 945.5289979145477, + 1134.7354344393977, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 942.9309217031944, + 1133.2354344393977, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 940.332845491841, + 1131.7354344393977, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 937.7347692804876, + 1130.2354344393977, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 935.1366930691343, + 1128.7354344393977, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 932.5386168577809, + 1127.2354344393977, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 929.9405406464275, + 1125.7354344393977, + 62.05063540305763 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 927.3424644350741, + 1124.2354344393977, + 62.05063540305763 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 916.0, + 1112.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-52-37_689442530/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-52-37_689442530/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..413727d112306a83de4ae5f6e41f08701f1f3e2b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-52-37_689442530/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1146.3473127286884, + -836.6743849008069, + 50.71003108159956 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1143.749236517335, + -838.1743849008069, + 50.71003108159956 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1141.1511603059816, + -839.6743849008069, + 50.71003108159956 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1138.5530840946283, + -841.1743849008069, + 50.71003108159956 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1135.955007883275, + -842.6743849008069, + 50.71003108159956 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1133.3569316719215, + -844.1743849008069, + 50.71003108159956 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1130.7588554605682, + -845.6743849008069, + 50.71003108159956 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1128.1607792492148, + -847.1743849008069, + 50.71003108159956 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1125.5627030378614, + -848.6743849008069, + 50.71003108159956 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1125.5627030378614, + -848.6743849008069, + 50.71003108159956 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1122.5627030378614, + -848.6743849008069, + 50.71003108159956 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1119.5627030378614, + -848.6743849008069, + 50.71003108159956 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1116.5627030378614, + -848.6743849008069, + 50.71003108159956 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1113.5627030378614, + -848.6743849008069, + 50.71003108159956 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1110.5627030378614, + -848.6743849008069, + 50.71003108159956 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1107.5627030378614, + -848.6743849008069, + 50.71003108159956 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1104.5627030378614, + -848.6743849008069, + 50.71003108159956 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1000.0, + -876.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-57-22_99568484/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-57-22_99568484/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e3f7ac2ae911ac3904658698764d4462124567b0 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-57-22_99568484/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -414.1388017951208, + -1668.5480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -416.7368780064741, + -1667.0480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -419.33495421782743, + -1665.5480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -421.93303042918075, + -1664.0480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -424.53110664053406, + -1662.5480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -427.1291828518874, + -1661.0480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -429.7272590632407, + -1659.5480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -432.325335274594, + -1658.0480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -434.9234114859473, + -1656.5480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -437.52148769730064, + -1655.0480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -440.11956390865396, + -1653.5480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -442.7176401200073, + -1652.0480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -445.3157163313606, + -1650.5480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -447.9137925427139, + -1649.0480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -450.5118687540672, + -1647.5480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -453.10994496542054, + -1646.0480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -455.70802117677385, + -1644.5480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -458.30609738812717, + -1643.0480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -460.9041735994805, + -1641.5480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -463.5022498108338, + -1640.0480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -466.1003260221871, + -1638.5480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -468.69840223354043, + -1637.0480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -471.29647844489375, + -1635.5480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -473.89455465624707, + -1634.0480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -476.4926308676004, + -1632.5480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -479.0907070789537, + -1631.0480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -481.688783290307, + -1629.5480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -484.28685950166033, + -1628.0480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -486.88493571301365, + -1626.5480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -489.48301192436696, + -1625.0480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -492.0810881357203, + -1623.5480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -494.6791643470736, + -1622.0480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -497.2772405584269, + -1620.5480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -499.8753167697802, + -1619.0480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -502.47339298113354, + -1617.5480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -505.07146919248686, + -1616.0480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -507.6695454038402, + -1614.5480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -510.2676216151935, + -1613.0480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -512.8656978265468, + -1611.5480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -515.4637740379001, + -1610.0480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -518.0618502492534, + -1608.5480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -520.6599264606068, + -1607.0480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -523.2580026719602, + -1605.5480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -525.8560788833136, + -1604.0480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -528.4541550946669, + -1602.5480464780303, + 54.02352480837629 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -528.4541550946669, + -1602.5480464780303, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -529.9541550946669, + -1599.949970266677, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -531.4541550946669, + -1597.3518940553236, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -532.9541550946669, + -1594.7538178439702, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -534.4541550946669, + -1592.1557416326168, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -535.9541550946669, + -1589.5576654212634, + 54.02352480837629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -537.4541550946669, + -1586.95958920991, + 54.02352480837629 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -560.0, + -1572.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-9-40_363304213/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-9-40_363304213/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c0dbfaf48b514351bed477a93d03bd84fdcd94e3 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-9-40_363304213/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 804.0659966090163, + 275.2835421324072, + 52.471575518162524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 801.467920397663, + 276.7835421324072, + 52.471575518162524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 798.8698441863096, + 278.2835421324072, + 52.471575518162524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 796.2717679749562, + 279.7835421324072, + 52.471575518162524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 793.6736917636028, + 281.2835421324072, + 52.471575518162524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 791.0756155522495, + 282.7835421324072, + 52.471575518162524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 788.4775393408961, + 284.2835421324072, + 52.471575518162524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 785.8794631295427, + 285.7835421324072, + 52.471575518162524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 783.2813869181894, + 287.2835421324072, + 52.471575518162524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 780.683310706836, + 288.7835421324072, + 52.471575518162524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 778.0852344954826, + 290.2835421324072, + 52.471575518162524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 775.4871582841292, + 291.7835421324072, + 52.471575518162524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 772.8890820727759, + 293.2835421324072, + 52.471575518162524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 770.2910058614225, + 294.7835421324072, + 52.471575518162524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 767.6929296500691, + 296.2835421324072, + 52.471575518162524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 765.0948534387157, + 297.7835421324072, + 52.471575518162524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 762.4967772273624, + 299.2835421324072, + 52.471575518162524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 759.898701016009, + 300.7835421324072, + 52.471575518162524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 757.3006248046556, + 302.2835421324072, + 52.471575518162524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 754.7025485933023, + 303.7835421324072, + 52.471575518162524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 752.1044723819489, + 305.2835421324072, + 52.471575518162524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 749.5063961705955, + 306.7835421324072, + 52.471575518162524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 746.9083199592421, + 308.2835421324072, + 52.471575518162524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 744.3102437478888, + 309.7835421324072, + 52.471575518162524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 741.7121675365354, + 311.2835421324072, + 52.471575518162524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 739.114091325182, + 312.7835421324072, + 52.471575518162524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 736.5160151138286, + 314.2835421324072, + 52.471575518162524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 733.9179389024753, + 315.7835421324072, + 52.471575518162524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 731.3198626911219, + 317.2835421324072, + 52.471575518162524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 728.7217864797685, + 318.7835421324072, + 52.471575518162524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 726.1237102684152, + 320.2835421324072, + 52.471575518162524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 723.5256340570618, + 321.7835421324072, + 52.471575518162524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 720.9275578457084, + 323.2835421324072, + 52.471575518162524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 718.329481634355, + 324.7835421324072, + 52.471575518162524 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 718.329481634355, + 324.7835421324072, + 52.471575518162524 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 715.329481634355, + 324.7835421324072, + 52.471575518162524 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 712.329481634355, + 324.7835421324072, + 52.471575518162524 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 709.329481634355, + 324.7835421324072, + 52.471575518162524 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.0, + 348.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_0-53-49_1638253540/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_0-53-49_1638253540/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..160a4b47c53203da72a5c31e1c23aa7b63b73f3b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_0-53-49_1638253540/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -776.5970563224736, + -1528.1614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -773.5970563224736, + -1528.1614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -770.5970563224736, + -1528.1614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -767.5970563224736, + -1528.1614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -764.5970563224736, + -1528.1614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -761.5970563224736, + -1528.1614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -758.5970563224736, + -1528.1614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -755.5970563224736, + -1528.1614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -752.5970563224736, + -1528.1614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -749.5970563224736, + -1528.1614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -746.5970563224736, + -1528.1614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -743.5970563224736, + -1528.1614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -740.5970563224736, + -1528.1614430508496, + 56.058686903776525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -740.5970563224736, + -1528.1614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -737.9989801111203, + -1526.6614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -735.400903899767, + -1525.1614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -732.8028276884136, + -1523.6614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -730.2047514770602, + -1522.1614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -727.6066752657068, + -1520.6614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -725.0085990543535, + -1519.1614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -722.4105228430001, + -1517.6614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -719.8124466316467, + -1516.1614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -717.2143704202933, + -1514.6614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -714.61629420894, + -1513.1614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -712.0182179975866, + -1511.6614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -709.4201417862332, + -1510.1614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -706.8220655748798, + -1508.6614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -704.2239893635265, + -1507.1614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -701.6259131521731, + -1505.6614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -699.0278369408197, + -1504.1614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -696.4297607294664, + -1502.6614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -693.831684518113, + -1501.1614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -691.2336083067596, + -1499.6614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -688.6355320954062, + -1498.1614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -686.0374558840529, + -1496.6614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -683.4393796726995, + -1495.1614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -680.8413034613461, + -1493.6614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -678.2432272499927, + -1492.1614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -675.6451510386394, + -1490.6614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -673.047074827286, + -1489.1614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -670.4489986159326, + -1487.6614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -667.8509224045793, + -1486.1614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -665.2528461932259, + -1484.6614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -662.6547699818725, + -1483.1614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -660.0566937705191, + -1481.6614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -657.4586175591658, + -1480.1614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -654.8605413478124, + -1478.6614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -652.262465136459, + -1477.1614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -649.6643889251056, + -1475.6614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -647.0663127137523, + -1474.1614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -644.4682365023989, + -1472.6614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -641.8701602910455, + -1471.1614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -639.2720840796921, + -1469.6614430508496, + 56.058686903776525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -636.6740078683388, + -1468.1614430508496, + 56.058686903776525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -616.0, + -1460.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-21-29_129183332/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-21-29_129183332/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4ae2d67b6c8c9415ed7cb74eac3a7b5a8a936237 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-21-29_129183332/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1424.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1427.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1430.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1433.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1436.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1439.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1442.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1445.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1448.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1451.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1454.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1457.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1460.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1463.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1466.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1469.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1472.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1475.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1478.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1481.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1484.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1487.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1490.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1493.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1496.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1499.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1502.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1505.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1508.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1511.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1514.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1517.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1520.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1523.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1526.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1529.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1532.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1535.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1538.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1541.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1544.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1547.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1547.2864185204073, + -1187.056232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1549.8844947317607, + -1188.556232665406, + 56.66690090877009 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1552.482570943114, + -1190.056232665406, + 56.66690090877009 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1580.0, + -1192.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-31-19_1787189168/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-31-19_1787189168/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0f1761bac3473c6579786f229baec9949738b7aa --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-31-19_1787189168/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1705.0095203420244, + -412.8612831586947, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1706.5095203420244, + -415.459359370048, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1708.0095203420244, + -418.0574355814013, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1709.5095203420244, + -420.6555117927546, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1711.0095203420244, + -423.25358800410794, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1712.5095203420244, + -425.85166421546126, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1714.0095203420244, + -428.44974042681457, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1715.5095203420244, + -431.0478166381679, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1717.0095203420244, + -433.6458928495212, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1718.5095203420244, + -436.2439690608745, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1720.0095203420244, + -438.84204527222784, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1721.5095203420244, + -441.44012148358115, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1723.0095203420244, + -444.03819769493447, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1724.5095203420244, + -446.6362739062878, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1726.0095203420244, + -449.2343501176411, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1727.5095203420244, + -451.8324263289944, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1729.0095203420244, + -454.43050254034773, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1730.5095203420244, + -457.02857875170105, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1732.0095203420244, + -459.62665496305436, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1733.5095203420244, + -462.2247311744077, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1735.0095203420244, + -464.822807385761, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1736.5095203420244, + -467.4208835971143, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1738.0095203420244, + -470.0189598084676, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1739.5095203420244, + -472.61703601982094, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1741.0095203420244, + -475.21511223117426, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1742.5095203420244, + -477.8131884425276, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1744.0095203420244, + -480.4112646538809, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1745.5095203420244, + -483.0093408652342, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1747.0095203420244, + -485.6074170765875, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1748.5095203420244, + -488.20549328794084, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1750.0095203420244, + -490.80356949929416, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1751.5095203420244, + -493.4016457106475, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1753.0095203420244, + -495.9997219220008, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1754.5095203420244, + -498.5977981333541, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1756.0095203420244, + -501.1958743447074, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1757.5095203420244, + -503.79395055606074, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1759.0095203420244, + -506.39202676741405, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1760.5095203420244, + -508.99010297876737, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1762.0095203420244, + -511.5881791901207, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1763.5095203420244, + -514.186255401474, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1765.0095203420244, + -516.7843316128274, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1766.5095203420244, + -519.3824078241807, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1768.0095203420244, + -521.9804840355341, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1769.5095203420244, + -524.5785602468875, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1771.0095203420244, + -527.1766364582409, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1772.5095203420244, + -529.7747126695942, + 62.374907180931096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1774.0095203420244, + -532.3727888809476, + 62.374907180931096 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1784.0, + -548.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-10-6_364196342/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-10-6_364196342/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..036da853299d3b002159f4d90d05bdc5996c9537 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-10-6_364196342/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 782.8289041962047, + 54.056257057846125, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 784.3289041962047, + 51.45818084649281, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 785.8289041962047, + 48.86010463513949, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 787.3289041962047, + 46.26202842378618, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 788.8289041962047, + 43.66395221243286, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 790.3289041962047, + 41.065876001079545, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 791.8289041962047, + 38.46779978972623, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 793.3289041962047, + 35.86972357837291, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 794.8289041962047, + 33.2716473670196, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 796.3289041962047, + 30.67357115566628, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 797.8289041962047, + 28.075494944312965, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 799.3289041962047, + 25.47741873295965, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 800.8289041962047, + 22.879342521606333, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 802.3289041962047, + 20.281266310253017, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 803.8289041962047, + 17.6831900988997, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 805.3289041962047, + 15.085113887546385, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 806.8289041962047, + 12.487037676193069, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 808.3289041962047, + 9.888961464839753, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 809.8289041962047, + 7.290885253486437, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 811.3289041962047, + 4.6928090421331206, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 812.8289041962047, + 2.0947328307798045, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 814.3289041962047, + -0.5033433805735115, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 815.8289041962047, + -3.1014195919268275, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 817.3289041962047, + -5.6994958032801435, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 818.8289041962047, + -8.29757201463346, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 820.3289041962047, + -10.895648225986776, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 821.8289041962047, + -13.493724437340092, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 823.3289041962047, + -16.091800648693408, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 824.8289041962047, + -18.689876860046724, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 826.3289041962047, + -21.28795307140004, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 827.8289041962047, + -23.886029282753356, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 829.3289041962047, + -26.48410549410667, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 830.8289041962047, + -29.082181705459988, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 832.3289041962047, + -31.680257916813304, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 833.8289041962047, + -34.27833412816662, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 835.3289041962047, + -36.876410339519936, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 836.8289041962047, + -39.47448655087325, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 838.3289041962047, + -42.07256276222657, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 839.8289041962047, + -44.670638973579884, + 66.95577037591423 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 839.8289041962047, + -44.670638973579884, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 839.8289041962047, + -47.670638973579884, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 839.8289041962047, + -50.670638973579884, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 839.8289041962047, + -53.670638973579884, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 839.8289041962047, + -56.670638973579884, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 839.8289041962047, + -59.670638973579884, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 839.8289041962047, + -62.670638973579884, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 839.8289041962047, + -65.67063897357988, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 839.8289041962047, + -68.67063897357988, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 839.8289041962047, + -71.67063897357988, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 839.8289041962047, + -74.67063897357988, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 839.8289041962047, + -77.67063897357988, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 839.8289041962047, + -80.67063897357988, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 839.8289041962047, + -83.67063897357988, + 66.95577037591423 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 839.8289041962047, + -83.67063897357988, + 66.95577037591423 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 841.3289041962047, + -86.2687151849332, + 66.95577037591423 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 848.0, + -104.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-23-49_2017461929/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-23-49_2017461929/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ef63da1d054599d37bac96d4194521acadee9b6a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-23-49_2017461929/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1535.1644671763008, + 1241.341073120168, + 57.63892553616603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1535.1644671763008, + 1238.341073120168, + 57.63892553616603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1535.1644671763008, + 1235.341073120168, + 57.63892553616603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1535.1644671763008, + 1232.341073120168, + 57.63892553616603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1535.1644671763008, + 1229.341073120168, + 57.63892553616603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1535.1644671763008, + 1226.341073120168, + 57.63892553616603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1535.1644671763008, + 1223.341073120168, + 57.63892553616603 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1540.0, + 1080.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-25-13_794123786/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-25-13_794123786/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4e71e50a41f37b19907711e7a84235a6258a4bc6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-25-13_794123786/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 433.13506866265675, + 837.8349177576263, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 435.73314487401007, + 839.3349177576263, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 438.3312210853634, + 840.8349177576263, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 440.9292972967167, + 842.3349177576263, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 443.52737350807, + 843.8349177576263, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 446.12544971942333, + 845.3349177576263, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 448.72352593077665, + 846.8349177576263, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 451.32160214212996, + 848.3349177576263, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 453.9196783534833, + 849.8349177576263, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 456.5177545648366, + 851.3349177576263, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 459.1158307761899, + 852.8349177576263, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 461.7139069875432, + 854.3349177576263, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 464.31198319889654, + 855.8349177576263, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 466.91005941024986, + 857.3349177576263, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 469.5081356216032, + 858.8349177576263, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 472.1062118329565, + 860.3349177576263, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 474.7042880443098, + 861.8349177576263, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 477.3023642556631, + 863.3349177576263, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 479.90044046701644, + 864.8349177576263, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 482.49851667836975, + 866.3349177576263, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 485.09659288972307, + 867.8349177576263, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 487.6946691010764, + 869.3349177576263, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 490.2927453124297, + 870.8349177576263, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 492.890821523783, + 872.3349177576263, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 495.48889773513633, + 873.8349177576263, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 498.08697394648965, + 875.3349177576263, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 500.68505015784297, + 876.8349177576263, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 503.2831263691963, + 878.3349177576263, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 505.8812025805496, + 879.8349177576263, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 508.4792787919029, + 881.3349177576263, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 511.07735500325623, + 882.8349177576263, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 513.6754312146095, + 884.3349177576263, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 516.2735074259629, + 885.8349177576263, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 518.8715836373162, + 887.3349177576263, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 521.4696598486696, + 888.8349177576263, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 524.067736060023, + 890.3349177576263, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 526.6658122713764, + 891.8349177576263, + 56.222275915786355 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 526.6658122713764, + 891.8349177576263, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 528.1658122713764, + 894.4329939689796, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 529.6658122713764, + 897.031070180333, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 531.1658122713764, + 899.6291463916864, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 532.6658122713764, + 902.2272226030398, + 56.222275915786355 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 534.1658122713764, + 904.8252988143931, + 56.222275915786355 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 560.0, + 920.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-28-50_1927203630/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-28-50_1927203630/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1ee5b6d343a3c38538e8573956a3acf523d37da0 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-28-50_1927203630/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1266.63914360917, + -546.5276327004663, + 69.08365635393886 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1266.63914360917, + -543.5276327004663, + 69.08365635393886 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1266.63914360917, + -540.5276327004663, + 69.08365635393886 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1266.63914360917, + -537.5276327004663, + 69.08365635393886 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1266.63914360917, + -534.5276327004663, + 69.08365635393886 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1266.63914360917, + -531.5276327004663, + 69.08365635393886 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1266.63914360917, + -528.5276327004663, + 69.08365635393886 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1266.63914360917, + -525.5276327004663, + 69.08365635393886 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1266.63914360917, + -522.5276327004663, + 69.08365635393886 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1266.63914360917, + -519.5276327004663, + 69.08365635393886 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1266.63914360917, + -516.5276327004663, + 69.08365635393886 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1266.63914360917, + -513.5276327004663, + 69.08365635393886 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1266.63914360917, + -510.52763270046626, + 69.08365635393886 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1266.63914360917, + -507.52763270046626, + 69.08365635393886 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1266.63914360917, + -504.52763270046626, + 69.08365635393886 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1266.63914360917, + -501.52763270046626, + 69.08365635393886 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1266.63914360917, + -498.52763270046626, + 69.08365635393886 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1266.63914360917, + -495.52763270046626, + 69.08365635393886 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1266.63914360917, + -492.52763270046626, + 69.08365635393886 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1266.63914360917, + -489.52763270046626, + 69.08365635393886 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1266.63914360917, + -486.52763270046626, + 69.08365635393886 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1266.63914360917, + -486.52763270046626, + 69.08365635393886 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1265.13914360917, + -483.92955648911294, + 69.08365635393886 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1263.63914360917, + -481.3314802777596, + 69.08365635393886 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1262.13914360917, + -478.7334040664063, + 69.08365635393886 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1260.63914360917, + -476.135327855053, + 69.08365635393886 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1259.13914360917, + -473.5372516436997, + 69.08365635393886 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1257.63914360917, + -470.93917543234636, + 69.08365635393886 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1256.13914360917, + -468.34109922099304, + 69.08365635393886 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1254.63914360917, + -465.7430230096397, + 69.08365635393886 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1253.13914360917, + -463.1449467982864, + 69.08365635393886 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1251.63914360917, + -460.5468705869331, + 69.08365635393886 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1250.13914360917, + -457.9487943755798, + 69.08365635393886 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1248.63914360917, + -455.35071816422646, + 69.08365635393886 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1247.13914360917, + -452.75264195287315, + 69.08365635393886 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1245.63914360917, + -450.15456574151983, + 69.08365635393886 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1244.13914360917, + -447.5564895301665, + 69.08365635393886 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1242.63914360917, + -444.9584133188132, + 69.08365635393886 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1241.13914360917, + -442.3603371074599, + 69.08365635393886 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1228.0, + -400.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-39-45_2119389304/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-39-45_2119389304/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1c3baf3fd74f4153d743e6bbe0fbaa0138b39772 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-39-45_2119389304/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -28.139335500519138, + -595.8385344318201, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -25.139335500519138, + -595.8385344318201, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -22.139335500519138, + -595.8385344318201, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -19.139335500519138, + -595.8385344318201, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -16.139335500519138, + -595.8385344318201, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -13.139335500519138, + -595.8385344318201, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -10.139335500519138, + -595.8385344318201, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -7.139335500519138, + -595.8385344318201, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -4.139335500519138, + -595.8385344318201, + 65.00349281741771 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -4.139335500519138, + -595.8385344318201, + 65.00349281741771 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -4.139335500519138, + -595.8385344318201, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2.6393355005191377, + -593.2404582204667, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1.1393355005191372, + -590.6423820091134, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 0.3606644994808632, + -588.04430579776, + 65.00349281741771 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 0.3606644994808632, + -588.04430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2.958740710834179, + -586.54430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 5.556816922187496, + -585.04430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 8.154893133540812, + -583.54430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 10.752969344894128, + -582.04430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 13.351045556247444, + -580.54430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 15.94912176760076, + -579.04430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 18.547197978954074, + -577.54430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 21.14527419030739, + -576.04430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 23.743350401660706, + -574.54430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 26.341426613014022, + -573.04430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 28.939502824367338, + -571.54430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 31.537579035720654, + -570.04430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 34.13565524707397, + -568.54430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 36.733731458427286, + -567.04430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 39.3318076697806, + -565.54430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 41.92988388113392, + -564.04430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 44.527960092487234, + -562.54430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 47.12603630384055, + -561.04430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 49.724112515193866, + -559.54430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 52.32218872654718, + -558.04430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 54.9202649379005, + -556.54430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 57.518341149253814, + -555.04430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 60.11641736060713, + -553.54430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 62.714493571960446, + -552.04430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 65.31256978331376, + -550.54430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 67.91064599466708, + -549.04430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 70.5087222060204, + -547.54430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 73.10679841737371, + -546.04430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 75.70487462872703, + -544.54430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 78.30295084008034, + -543.04430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 80.90102705143366, + -541.54430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 83.49910326278697, + -540.04430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 86.09717947414029, + -538.54430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 88.6952556854936, + -537.04430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 91.29333189684692, + -535.54430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 93.89140810820024, + -534.04430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 96.48948431955355, + -532.54430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 99.08756053090687, + -531.04430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 101.68563674226019, + -529.54430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 104.2837129536135, + -528.04430579776, + 65.00349281741771 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 106.88178916496682, + -526.54430579776, + 65.00349281741771 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 124.0, + -520.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-48-54_1931525347/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-48-54_1931525347/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3869c5215f4919a80ccd3cefe9d6a58b5376847a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-48-54_1931525347/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -215.91085527255038, + 230.77772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -218.5089314839037, + 229.27772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -221.107007695257, + 227.77772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -223.70508390661033, + 226.27772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -226.30316011796364, + 224.77772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -228.90123632931696, + 223.27772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -231.49931254067027, + 221.77772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -234.0973887520236, + 220.27772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -236.6954649633769, + 218.77772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -239.29354117473022, + 217.27772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -241.89161738608354, + 215.77772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -244.48969359743685, + 214.27772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -247.08776980879017, + 212.77772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -249.6858460201435, + 211.27772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -252.2839222314968, + 209.77772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -254.88199844285012, + 208.27772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -257.48007465420346, + 206.77772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914993 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -260.0781508655568, + 205.27772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -262.6762270769101, + 203.77772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -265.2743032882634, + 202.27772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -267.8723794996167, + 200.77772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -270.47045571097004, + 199.27772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -273.06853192232336, + 197.77772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -275.6666081336767, + 196.27772692822037, + 50.92803474867256 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -275.6666081336767, + 196.27772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -278.6666081336767, + 196.27772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -281.6666081336767, + 196.27772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -284.6666081336767, + 196.27772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -287.6666081336767, + 196.27772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -290.6666081336767, + 196.27772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -293.6666081336767, + 196.27772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -296.6666081336767, + 196.27772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -299.6666081336767, + 196.27772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -302.6666081336767, + 196.27772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -305.6666081336767, + 196.27772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -308.6666081336767, + 196.27772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -311.6666081336767, + 196.27772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -314.6666081336767, + 196.27772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -317.6666081336767, + 196.27772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -320.6666081336767, + 196.27772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -323.6666081336767, + 196.27772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -326.6666081336767, + 196.27772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -329.6666081336767, + 196.27772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -332.6666081336767, + 196.27772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -335.6666081336767, + 196.27772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -338.6666081336767, + 196.27772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -341.6666081336767, + 196.27772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -344.6666081336767, + 196.27772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -347.6666081336767, + 196.27772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -350.6666081336767, + 196.27772692822037, + 50.92803474867256 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -353.6666081336767, + 196.27772692822037, + 50.92803474867256 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -380.0, + 188.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-9-24_1893051878/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-9-24_1893051878/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..92e49c2701ab15d2449e6458b9af188e1ae9646d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-9-24_1893051878/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1726.8791715246384, + 773.139299345978, + 55.65042850289831 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1728.3791715246384, + 775.7373755573312, + 55.65042850289831 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1729.8791715246384, + 778.3354517686846, + 55.65042850289831 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1731.3791715246384, + 780.933527980038, + 55.65042850289831 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1732.8791715246384, + 783.5316041913914, + 55.65042850289831 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1734.3791715246384, + 786.1296804027447, + 55.65042850289831 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1734.3791715246384, + 786.1296804027447, + 55.65042850289831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1736.9772477359918, + 787.6296804027447, + 55.65042850289831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1739.5753239473452, + 789.1296804027447, + 55.65042850289831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1742.1734001586985, + 790.6296804027447, + 55.65042850289831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1744.771476370052, + 792.1296804027447, + 55.65042850289831 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1744.771476370052, + 792.1296804027447, + 55.65042850289831 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1747.771476370052, + 792.1296804027447, + 55.65042850289831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1750.771476370052, + 792.1296804027447, + 55.65042850289831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1753.771476370052, + 792.1296804027447, + 55.65042850289831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1756.771476370052, + 792.1296804027447, + 55.65042850289831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1759.771476370052, + 792.1296804027447, + 55.65042850289831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1762.771476370052, + 792.1296804027447, + 55.65042850289831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1765.771476370052, + 792.1296804027447, + 55.65042850289831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1768.771476370052, + 792.1296804027447, + 55.65042850289831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1771.771476370052, + 792.1296804027447, + 55.65042850289831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1774.771476370052, + 792.1296804027447, + 55.65042850289831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1777.771476370052, + 792.1296804027447, + 55.65042850289831 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1777.771476370052, + 792.1296804027447, + 55.65042850289831 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1777.771476370052, + 792.1296804027447, + 55.65042850289831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1779.271476370052, + 789.5316041913914, + 55.65042850289831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1780.771476370052, + 786.933527980038, + 55.65042850289831 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1780.771476370052, + 786.933527980038, + 55.65042850289831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1783.3695525814053, + 785.433527980038, + 55.65042850289831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1785.9676287927587, + 783.933527980038, + 55.65042850289831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1788.565705004112, + 782.433527980038, + 55.65042850289831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1791.1637812154654, + 780.933527980038, + 55.65042850289831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1793.7618574268188, + 779.433527980038, + 55.65042850289831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1796.3599336381722, + 777.933527980038, + 55.65042850289831 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1888.0, + 784.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-33-39_1239547247/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-33-39_1239547247/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fb93d58d35cf5bfceb95a454944862c7a66e13d7 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-33-39_1239547247/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 444.25624428114406, + -762.0414821902224, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 442.75624428114406, + -759.4434059788691, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 441.25624428114406, + -756.8453297675158, + 58.85062782958592 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 441.25624428114406, + -756.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 438.65816806979075, + -755.3453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 436.06009185843743, + -753.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 433.4620156470841, + -752.3453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 430.8639394357308, + -750.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 428.2658632243775, + -749.3453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 425.66778701302417, + -747.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 423.06971080167085, + -746.3453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 420.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 420.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 417.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 414.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 411.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 408.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 405.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 402.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 399.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 396.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 393.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 390.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 387.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 384.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 381.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 378.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 375.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 372.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 369.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 366.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 363.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 360.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 357.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 354.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 351.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 348.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 345.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 342.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 339.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 336.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 333.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 330.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 327.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 324.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 321.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 318.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 315.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 312.47163459031754, + -744.8453297675158, + 58.85062782958592 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 276.0, + -740.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-40-46_596170911/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-40-46_596170911/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dcdad38e0e9d3089a30000e884c190839be4066e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-40-46_596170911/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1005.8731361205547, + -58.79452549490698, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1003.2750599092014, + -60.29452549490698, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1000.6769836978481, + -61.79452549490698, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 998.0789074864947, + -63.29452549490698, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 995.4808312751413, + -64.79452549490698, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 992.882755063788, + -66.29452549490698, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 990.2846788524346, + -67.79452549490698, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 987.6866026410812, + -69.29452549490698, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 985.0885264297278, + -70.79452549490698, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 982.4904502183745, + -72.29452549490698, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 979.8923740070211, + -73.79452549490698, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 977.2942977956677, + -75.29452549490698, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 974.6962215843143, + -76.79452549490698, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 972.098145372961, + -78.29452549490698, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 969.5000691616076, + -79.79452549490698, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 966.9019929502542, + -81.29452549490698, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 964.3039167389009, + -82.79452549490698, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 961.7058405275475, + -84.29452549490698, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 959.1077643161941, + -85.79452549490698, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 956.5096881048407, + -87.29452549490698, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 953.9116118934874, + -88.79452549490698, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 951.313535682134, + -90.29452549490698, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 948.7154594707806, + -91.79452549490698, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 946.1173832594272, + -93.29452549490698, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 943.5193070480739, + -94.79452549490698, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 940.9212308367205, + -96.29452549490698, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 938.3231546253671, + -97.79452549490698, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 935.7250784140138, + -99.29452549490698, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 933.1270022026604, + -100.79452549490698, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 930.528925991307, + -102.29452549490698, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 927.9308497799536, + -103.79452549490698, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 925.3327735686003, + -105.29452549490698, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 922.7346973572469, + -106.79452549490698, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 920.1366211458935, + -108.29452549490698, + 40.20488787943566 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 920.1366211458935, + -108.29452549490698, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 918.6366211458935, + -110.8926017062603, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 917.1366211458935, + -113.49067791761361, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 915.6366211458935, + -116.08875412896693, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 914.1366211458935, + -118.68683034032024, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 912.6366211458935, + -121.28490655167356, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 911.1366211458935, + -123.88298276302687, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 909.6366211458935, + -126.48105897438019, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 908.1366211458935, + -129.0791351857335, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393198 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 906.6366211458935, + -131.6772113970868, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 905.1366211458935, + -134.27528760844012, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 903.6366211458935, + -136.87336381979344, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 902.1366211458935, + -139.47144003114676, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 900.6366211458935, + -142.06951624250007, + 40.20488787943566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 899.1366211458935, + -144.6675924538534, + 40.20488787943566 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 876.0, + -164.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-10-34_1270551295/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-10-34_1270551295/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2893cf0fd37f1951bc54bf68c2e2f45c2df7b6b9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-10-34_1270551295/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -642.9960107855702, + 662.4447723795441, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -645.5940869969236, + 660.9447723795441, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -648.192163208277, + 659.4447723795441, + 59.44676113490591 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -648.192163208277, + 659.4447723795441, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -649.692163208277, + 656.8466961681909, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -651.192163208277, + 654.2486199568375, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -652.692163208277, + 651.6505437454841, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -654.192163208277, + 649.0524675341308, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -655.692163208277, + 646.4543913227774, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -657.192163208277, + 643.856315111424, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -658.692163208277, + 641.2582389000706, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -660.192163208277, + 638.6601626887173, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -661.692163208277, + 636.0620864773639, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -663.192163208277, + 633.4640102660105, + 59.44676113490591 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -663.192163208277, + 633.4640102660105, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -663.192163208277, + 630.4640102660105, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -663.192163208277, + 627.4640102660105, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -663.192163208277, + 624.4640102660105, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -663.192163208277, + 621.4640102660105, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -663.192163208277, + 618.4640102660105, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -663.192163208277, + 615.4640102660105, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -663.192163208277, + 612.4640102660105, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -663.192163208277, + 609.4640102660105, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -663.192163208277, + 606.4640102660105, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -663.192163208277, + 603.4640102660105, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -663.192163208277, + 600.4640102660105, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -663.192163208277, + 597.4640102660105, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -663.192163208277, + 594.4640102660105, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -663.192163208277, + 591.4640102660105, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -663.192163208277, + 588.4640102660105, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -663.192163208277, + 585.4640102660105, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -663.192163208277, + 582.4640102660105, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -663.192163208277, + 579.4640102660105, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -663.192163208277, + 576.4640102660105, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -663.192163208277, + 573.4640102660105, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -663.192163208277, + 570.4640102660105, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -663.192163208277, + 567.4640102660105, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -663.192163208277, + 564.4640102660105, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -663.192163208277, + 561.4640102660105, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -663.192163208277, + 558.4640102660105, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -663.192163208277, + 555.4640102660105, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -663.192163208277, + 552.4640102660105, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -663.192163208277, + 549.4640102660105, + 59.44676113490591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -663.192163208277, + 546.4640102660105, + 59.44676113490591 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -668.0, + 512.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-29-32_1975402908/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-29-32_1975402908/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..96dad3fcdb82eb7a1db64e2420d1c567d4cf7b17 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-29-32_1975402908/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1071.8898141111054, + -620.8813982197855, + 60.22936489128189 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1074.4878903224587, + -622.3813982197855, + 60.22936489128189 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1077.085966533812, + -623.8813982197855, + 60.22936489128189 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1079.6840427451655, + -625.3813982197855, + 60.22936489128189 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1082.2821189565188, + -626.8813982197855, + 60.22936489128189 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1084.8801951678722, + -628.3813982197855, + 60.22936489128189 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1087.4782713792256, + -629.8813982197855, + 60.22936489128189 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1090.076347590579, + -631.3813982197855, + 60.22936489128189 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1092.6744238019323, + -632.8813982197855, + 60.22936489128189 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1095.2725000132857, + -634.3813982197855, + 60.22936489128189 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1097.870576224639, + -635.8813982197855, + 60.22936489128189 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1100.4686524359925, + -637.3813982197855, + 60.22936489128189 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1103.0667286473458, + -638.8813982197855, + 60.22936489128189 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1105.6648048586992, + -640.3813982197855, + 60.22936489128189 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1108.2628810700526, + -641.8813982197855, + 60.22936489128189 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1110.860957281406, + -643.3813982197855, + 60.22936489128189 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1113.4590334927593, + -644.8813982197855, + 60.22936489128189 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1116.0571097041127, + -646.3813982197855, + 60.22936489128189 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1118.655185915466, + -647.8813982197855, + 60.22936489128189 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1121.2532621268194, + -649.3813982197855, + 60.22936489128189 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1123.8513383381728, + -650.8813982197855, + 60.22936489128189 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1126.4494145495262, + -652.3813982197855, + 60.22936489128189 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1129.0474907608796, + -653.8813982197855, + 60.22936489128189 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1131.645566972233, + -655.3813982197855, + 60.22936489128189 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1131.645566972233, + -655.3813982197855, + 60.22936489128189 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1133.145566972233, + -657.9794744311389, + 60.22936489128189 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1134.645566972233, + -660.5775506424923, + 60.22936489128189 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1136.145566972233, + -663.1756268538456, + 60.22936489128189 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1137.645566972233, + -665.773703065199, + 60.22936489128189 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1139.145566972233, + -668.3717792765524, + 60.22936489128189 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1140.645566972233, + -670.9698554879058, + 60.22936489128189 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1142.145566972233, + -673.5679316992591, + 60.22936489128189 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1143.645566972233, + -676.1660079106125, + 60.22936489128189 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1145.145566972233, + -678.7640841219659, + 60.22936489128189 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1146.645566972233, + -681.3621603333193, + 60.22936489128189 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1188.0, + -716.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-29-54_1935962074/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-29-54_1935962074/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f1e4c3f93ab5dd76c01fab8df3938b5933d68f5c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-29-54_1935962074/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1778.895246134184, + 1598.087754717357, + 62.279921405569986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1780.395246134184, + 1600.6858309287104, + 62.279921405569986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1781.895246134184, + 1603.2839071400638, + 62.279921405569986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1783.395246134184, + 1605.8819833514171, + 62.279921405569986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1784.895246134184, + 1608.4800595627705, + 62.279921405569986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1786.395246134184, + 1611.078135774124, + 62.279921405569986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1787.895246134184, + 1613.6762119854773, + 62.279921405569986 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1787.895246134184, + 1613.6762119854773, + 62.279921405569986 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1790.4933223455373, + 1615.1762119854773, + 62.279921405569986 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1793.0913985568907, + 1616.6762119854773, + 62.279921405569986 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1795.689474768244, + 1618.1762119854773, + 62.279921405569986 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1798.2875509795974, + 1619.6762119854773, + 62.279921405569986 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1896.0, + 1724.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-39-59_649162283/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-39-59_649162283/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9fc2d85300d198a0c1a446a335a1e4d2ed7b59d1 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-39-59_649162283/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -158.9721445880819, + 221.7523630405199, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -161.57022079943522, + 223.2523630405199, + 50.41800412946377 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -161.57022079943522, + 223.2523630405199, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -163.07022079943522, + 225.8504392518732, + 50.41800412946377 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -163.07022079943522, + 225.8504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -165.66829701078854, + 227.3504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -168.26637322214185, + 228.8504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -170.86444943349517, + 230.3504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -173.46252564484848, + 231.8504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -176.0606018562018, + 233.3504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -178.65867806755512, + 234.8504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -181.25675427890843, + 236.3504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -183.85483049026175, + 237.8504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -186.45290670161506, + 239.3504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -189.05098291296838, + 240.8504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -191.6490591243217, + 242.3504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -194.247135335675, + 243.8504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -196.84521154702833, + 245.3504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -199.44328775838164, + 246.8504392518732, + 50.41800412946377 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -199.44328775838164, + 246.8504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -202.44328775838164, + 246.8504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -205.44328775838164, + 246.8504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -208.44328775838164, + 246.8504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -211.44328775838164, + 246.8504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -214.44328775838164, + 246.8504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -217.44328775838164, + 246.8504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -220.44328775838164, + 246.8504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -223.44328775838164, + 246.8504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -226.44328775838164, + 246.8504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -229.44328775838164, + 246.8504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -232.44328775838164, + 246.8504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -235.44328775838164, + 246.8504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -238.44328775838164, + 246.8504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -241.44328775838164, + 246.8504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -244.44328775838164, + 246.8504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -247.44328775838164, + 246.8504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -250.44328775838164, + 246.8504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -253.44328775838164, + 246.8504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -256.44328775838164, + 246.8504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -259.44328775838164, + 246.8504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -262.44328775838164, + 246.8504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -265.44328775838164, + 246.8504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -268.44328775838164, + 246.8504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -271.44328775838164, + 246.8504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -274.44328775838164, + 246.8504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -277.44328775838164, + 246.8504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -280.44328775838164, + 246.8504392518732, + 50.41800412946377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -283.44328775838164, + 246.8504392518732, + 50.41800412946377 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -320.0, + 256.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-43-37_1286598370/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-43-37_1286598370/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7331b2a6d25878daa87cfbf62efb12f15f99f774 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-43-37_1286598370/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -330.33561372985673, + -1320.5289867337324, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -331.83561372985673, + -1323.1270629450858, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -333.33561372985673, + -1325.7251391564391, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -334.83561372985673, + -1328.3232153677925, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -336.33561372985673, + -1330.9212915791459, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -337.83561372985673, + -1333.5193677904992, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -339.33561372985673, + -1336.1174440018526, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -340.83561372985673, + -1338.715520213206, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -342.33561372985673, + -1341.3135964245594, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -343.83561372985673, + -1343.9116726359127, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -345.33561372985673, + -1346.509748847266, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -346.83561372985673, + -1349.1078250586195, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -348.33561372985673, + -1351.7059012699729, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -349.83561372985673, + -1354.3039774813262, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -351.33561372985673, + -1356.9020536926796, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -352.83561372985673, + -1359.500129904033, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -354.33561372985673, + -1362.0982061153863, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -355.83561372985673, + -1364.6962823267397, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -357.33561372985673, + -1367.294358538093, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -358.83561372985673, + -1369.8924347494465, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -360.33561372985673, + -1372.4905109607998, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -361.83561372985673, + -1375.0885871721532, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -363.33561372985673, + -1377.6866633835066, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -364.83561372985673, + -1380.28473959486, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -366.33561372985673, + -1382.8828158062133, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -367.83561372985673, + -1385.4808920175667, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -369.33561372985673, + -1388.07896822892, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -370.83561372985673, + -1390.6770444402734, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -372.33561372985673, + -1393.2751206516268, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -373.83561372985673, + -1395.8731968629802, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -375.33561372985673, + -1398.4712730743336, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -376.83561372985673, + -1401.069349285687, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -378.33561372985673, + -1403.6674254970403, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -379.83561372985673, + -1406.2655017083937, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -381.33561372985673, + -1408.863577919747, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -382.83561372985673, + -1411.4616541311004, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -384.33561372985673, + -1414.0597303424538, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -385.83561372985673, + -1416.6578065538072, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -387.33561372985673, + -1419.2558827651605, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -388.83561372985673, + -1421.853958976514, + 69.93065431888735 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -388.83561372985673, + -1421.853958976514, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -391.43368994121005, + -1423.353958976514, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -394.03176615256336, + -1424.853958976514, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -396.6298423639167, + -1426.353958976514, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -399.22791857527, + -1427.853958976514, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -401.8259947866233, + -1429.353958976514, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -404.4240709979766, + -1430.853958976514, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -407.02214720932994, + -1432.353958976514, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -409.62022342068326, + -1433.853958976514, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -412.2182996320366, + -1435.353958976514, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -414.8163758433899, + -1436.853958976514, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -417.4144520547432, + -1438.353958976514, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -420.0125282660965, + -1439.853958976514, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -422.61060447744984, + -1441.353958976514, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -425.20868068880316, + -1442.853958976514, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -427.8067569001565, + -1444.353958976514, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -430.4048331115098, + -1445.853958976514, + 69.93065431888735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -433.0029093228631, + -1447.353958976514, + 69.93065431888735 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -444.0, + -1460.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-47-16_1008620975/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-47-16_1008620975/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f8099830d6f0d42c7e4584c1baca6d0a3412d56e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-47-16_1008620975/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 740.4858766212737, + -361.6796202175906, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 738.9858766212737, + -359.08154400623727, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 737.4858766212737, + -356.48346779488395, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 735.9858766212737, + -353.88539158353063, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 734.4858766212737, + -351.2873153721773, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 732.9858766212737, + -348.689239160824, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 731.4858766212737, + -346.0911629494707, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 729.9858766212737, + -343.49308673811737, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 728.4858766212737, + -340.89501052676405, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 726.9858766212737, + -338.29693431541074, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 725.4858766212737, + -335.6988581040574, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 723.9858766212737, + -333.1007818927041, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 722.4858766212737, + -330.5027056813508, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 720.9858766212737, + -327.9046294699975, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 719.4858766212737, + -325.30655325864416, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 717.9858766212737, + -322.70847704729084, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 716.4858766212737, + -320.1104008359375, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 714.9858766212737, + -317.5123246245842, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 713.4858766212737, + -314.9142484132309, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 711.9858766212737, + -312.3161722018776, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 710.4858766212737, + -309.71809599052426, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 708.9858766212737, + -307.12001977917095, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 707.4858766212737, + -304.52194356781763, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 705.9858766212737, + -301.9238673564643, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 704.4858766212737, + -299.325791145111, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 702.9858766212737, + -296.7277149337577, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 701.4858766212737, + -294.12963872240437, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 699.9858766212737, + -291.53156251105105, + 43.88834908074748 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 699.9858766212737, + -291.53156251105105, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 697.3878004099204, + -290.03156251105105, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 694.789724198567, + -288.53156251105105, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 692.1916479872136, + -287.03156251105105, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 689.5935717758603, + -285.53156251105105, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 686.9954955645069, + -284.03156251105105, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 684.3974193531535, + -282.53156251105105, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 681.7993431418001, + -281.03156251105105, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 679.2012669304468, + -279.53156251105105, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 676.6031907190934, + -278.03156251105105, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 674.00511450774, + -276.53156251105105, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 671.4070382963866, + -275.03156251105105, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 668.8089620850333, + -273.53156251105105, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 666.2108858736799, + -272.03156251105105, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 663.6128096623265, + -270.53156251105105, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 661.0147334509732, + -269.03156251105105, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 658.4166572396198, + -267.53156251105105, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 655.8185810282664, + -266.03156251105105, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 653.220504816913, + -264.53156251105105, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 650.6224286055597, + -263.03156251105105, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 648.0243523942063, + -261.53156251105105, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 645.4262761828529, + -260.03156251105105, + 43.88834908074748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 642.8281999714995, + -258.53156251105105, + 43.88834908074748 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 620.0, + -236.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-55-4_486363501/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-55-4_486363501/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3a0ab026bfb338f34bc78cc976ae82d1116522e8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-55-4_486363501/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -19.49592277425468, + -606.683282166165, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -17.99592277425468, + -604.0852059548117, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -16.49592277425468, + -601.4871297434584, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -14.99592277425468, + -598.889053532105, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -13.49592277425468, + -596.2909773207516, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -11.99592277425468, + -593.6929011093982, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -10.49592277425468, + -591.0948248980449, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -8.99592277425468, + -588.4967486866915, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -7.49592277425468, + -585.8986724753381, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -5.99592277425468, + -583.3005962639847, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -4.49592277425468, + -580.7025200526314, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2.9959227742546797, + -578.104443841278, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1.4959227742546792, + -575.5063676299246, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 0.004077225745321211, + -572.9082914185713, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1.5040772257453217, + -570.3102152072179, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3.004077225745322, + -567.7121389958645, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4.5040772257453225, + -565.1140627845111, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 6.004077225745323, + -562.5159865731578, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196607 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 7.504077225745323, + -559.9179103618044, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 9.004077225745323, + -557.319834150451, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 10.504077225745323, + -554.7217579390976, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 12.004077225745323, + -552.1236817277443, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 13.504077225745323, + -549.5256055163909, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 15.004077225745323, + -546.9275293050375, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 16.504077225745323, + -544.3294530936842, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 18.004077225745323, + -541.7313768823308, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 19.504077225745323, + -539.1333006709774, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 21.004077225745323, + -536.535224459624, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 22.504077225745323, + -533.9371482482707, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 24.004077225745323, + -531.3390720369173, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 25.504077225745323, + -528.7409958255639, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 27.004077225745323, + -526.1429196142105, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 28.504077225745323, + -523.5448434028572, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 30.004077225745323, + -520.9467671915038, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 31.504077225745323, + -518.3486909801504, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 33.00407722574533, + -515.750614768797, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966063 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 34.50407722574533, + -513.1525385574437, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 36.00407722574533, + -510.55446234609036, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 37.50407722574533, + -507.95638613473704, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 39.00407722574533, + -505.35830992338373, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 40.50407722574533, + -502.7602337120304, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 42.00407722574533, + -500.1621575006771, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 43.50407722574533, + -497.5640812893238, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 45.00407722574533, + -494.96600507797046, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 46.50407722574533, + -492.36792886661715, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 48.00407722574533, + -489.76985265526383, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 49.50407722574533, + -487.1717764439105, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 51.00407722574533, + -484.5737002325572, + 50.77514336589216 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 51.00407722574533, + -484.5737002325572, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 51.00407722574533, + -481.5737002325572, + 50.77514336589216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 51.00407722574533, + -478.5737002325572, + 50.77514336589216 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 60.0, + -456.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-16-56_622993624/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-16-56_622993624/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..04e993e268816674b983cd5d814d54b18aba55f1 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-16-56_622993624/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1420.2158703565365, + -1008.7465640078267, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1420.2158703565365, + -1005.7465640078267, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1420.2158703565365, + -1002.7465640078267, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1420.2158703565365, + -999.7465640078267, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1420.2158703565365, + -996.7465640078267, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1420.2158703565365, + -993.7465640078267, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1420.2158703565365, + -990.7465640078267, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1420.2158703565365, + -987.7465640078267, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1420.2158703565365, + -984.7465640078267, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1420.2158703565365, + -981.7465640078267, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1420.2158703565365, + -978.7465640078267, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1420.2158703565365, + -975.7465640078267, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1420.2158703565365, + -972.7465640078267, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1420.2158703565365, + -969.7465640078267, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1420.2158703565365, + -966.7465640078267, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1420.2158703565365, + -963.7465640078267, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1420.2158703565365, + -960.7465640078267, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1420.2158703565365, + -957.7465640078267, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1420.2158703565365, + -954.7465640078267, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1420.2158703565365, + -951.7465640078267, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1420.2158703565365, + -948.7465640078267, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1420.2158703565365, + -945.7465640078267, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1420.2158703565365, + -942.7465640078267, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1420.2158703565365, + -939.7465640078267, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1420.2158703565365, + -936.7465640078267, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1420.2158703565365, + -933.7465640078267, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1420.2158703565365, + -930.7465640078267, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1420.2158703565365, + -927.7465640078267, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1420.2158703565365, + -924.7465640078267, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1420.2158703565365, + -921.7465640078267, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1420.2158703565365, + -918.7465640078267, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1420.2158703565365, + -915.7465640078267, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1420.2158703565365, + -912.7465640078267, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1420.2158703565365, + -909.7465640078267, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1420.2158703565365, + -906.7465640078267, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1420.2158703565365, + -903.7465640078267, + 66.2727058298323 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1420.2158703565365, + -903.7465640078267, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1418.7158703565365, + -901.1484877964733, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1417.2158703565365, + -898.55041158512, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1415.7158703565365, + -895.9523353737666, + 66.2727058298323 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1414.2158703565365, + -893.3542591624132, + 66.2727058298323 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1412.0, + -848.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-33-43_869813362/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-33-43_869813362/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6c81ed5e7e89c18a6d5c0f354fa5b22fe0ae9984 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-33-43_869813362/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -698.5969323679237, + -1315.2720502746718, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -695.9988561565704, + -1316.7720502746718, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -693.400779945217, + -1318.2720502746718, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -690.8027037338636, + -1319.7720502746718, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -688.2046275225102, + -1321.2720502746718, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -685.6065513111569, + -1322.7720502746718, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -683.0084750998035, + -1324.2720502746718, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -680.4103988884501, + -1325.7720502746718, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -677.8123226770967, + -1327.2720502746718, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -675.2142464657434, + -1328.7720502746718, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -672.61617025439, + -1330.2720502746718, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -670.0180940430366, + -1331.7720502746718, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -667.4200178316833, + -1333.2720502746718, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -664.8219416203299, + -1334.7720502746718, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -662.2238654089765, + -1336.2720502746718, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -659.6257891976231, + -1337.7720502746718, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -657.0277129862698, + -1339.2720502746718, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -654.4296367749164, + -1340.7720502746718, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -651.831560563563, + -1342.2720502746718, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -649.2334843522096, + -1343.7720502746718, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -646.6354081408563, + -1345.2720502746718, + 65.42013153398572 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -646.6354081408563, + -1345.2720502746718, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -645.1354081408563, + -1347.8701264860251, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -643.6354081408563, + -1350.4682026973785, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -642.1354081408563, + -1353.0662789087319, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -640.6354081408563, + -1355.6643551200852, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -639.1354081408563, + -1358.2624313314386, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -637.6354081408563, + -1360.860507542792, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -636.1354081408563, + -1363.4585837541454, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -634.6354081408563, + -1366.0566599654987, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -633.1354081408563, + -1368.654736176852, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -631.6354081408563, + -1371.2528123882055, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -630.1354081408563, + -1373.8508885995589, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -628.6354081408563, + -1376.4489648109122, + 65.42013153398572 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -628.6354081408563, + -1376.4489648109122, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -628.6354081408563, + -1379.4489648109122, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -628.6354081408563, + -1382.4489648109122, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -628.6354081408563, + -1385.4489648109122, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -628.6354081408563, + -1388.4489648109122, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -628.6354081408563, + -1391.4489648109122, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -628.6354081408563, + -1394.4489648109122, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -628.6354081408563, + -1397.4489648109122, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -628.6354081408563, + -1400.4489648109122, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -628.6354081408563, + -1403.4489648109122, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -628.6354081408563, + -1406.4489648109122, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -628.6354081408563, + -1409.4489648109122, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -628.6354081408563, + -1412.4489648109122, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -628.6354081408563, + -1415.4489648109122, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -628.6354081408563, + -1418.4489648109122, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -628.6354081408563, + -1421.4489648109122, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -628.6354081408563, + -1424.4489648109122, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -628.6354081408563, + -1427.4489648109122, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -628.6354081408563, + -1430.4489648109122, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -628.6354081408563, + -1433.4489648109122, + 65.42013153398572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -628.6354081408563, + -1436.4489648109122, + 65.42013153398572 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -616.0, + -1460.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-15-21_702622777/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-15-21_702622777/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8935403222dc311ad5702031dfd19a820d0cd3ed --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-15-21_702622777/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -88.06822428122902, + -170.15478522022931, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -85.06822428122902, + -170.15478522022931, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -82.06822428122902, + -170.15478522022931, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -79.06822428122902, + -170.15478522022931, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -76.06822428122902, + -170.15478522022931, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -73.06822428122902, + -170.15478522022931, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -70.06822428122902, + -170.15478522022931, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -67.06822428122902, + -170.15478522022931, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -64.06822428122902, + -170.15478522022931, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -61.06822428122902, + -170.15478522022931, + 62.178656155577045 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -61.06822428122902, + -170.15478522022931, + 62.178656155577045 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -61.06822428122902, + -170.15478522022931, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -59.56822428122902, + -167.556709008876, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -58.06822428122902, + -164.95863279752268, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -56.56822428122902, + -162.36055658616937, + 62.178656155577045 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -56.56822428122902, + -162.36055658616937, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -53.970148069875705, + -160.86055658616937, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -51.37207185852239, + -159.36055658616937, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -48.77399564716907, + -157.86055658616937, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -46.17591943581576, + -156.36055658616937, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -43.57784322446244, + -154.86055658616937, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -40.979767013109125, + -153.36055658616937, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -38.38169080175581, + -151.86055658616937, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -35.78361459040249, + -150.36055658616937, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -33.18553837904918, + -148.86055658616937, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -30.58746216769586, + -147.36055658616937, + 62.178656155577045 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -30.58746216769586, + -147.36055658616937, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -27.58746216769586, + -147.36055658616937, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -24.58746216769586, + -147.36055658616937, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -21.58746216769586, + -147.36055658616937, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -18.58746216769586, + -147.36055658616937, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -15.587462167695861, + -147.36055658616937, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -12.587462167695861, + -147.36055658616937, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -9.587462167695861, + -147.36055658616937, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -6.587462167695861, + -147.36055658616937, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -3.587462167695861, + -147.36055658616937, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -0.5874621676958611, + -147.36055658616937, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 2.412537832304139, + -147.36055658616937, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 5.412537832304139, + -147.36055658616937, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 8.412537832304139, + -147.36055658616937, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 11.412537832304139, + -147.36055658616937, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 14.412537832304139, + -147.36055658616937, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 17.41253783230414, + -147.36055658616937, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 20.41253783230414, + -147.36055658616937, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 23.41253783230414, + -147.36055658616937, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 26.41253783230414, + -147.36055658616937, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 29.41253783230414, + -147.36055658616937, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 32.41253783230414, + -147.36055658616937, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 35.41253783230414, + -147.36055658616937, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 38.41253783230414, + -147.36055658616937, + 62.178656155577045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 41.41253783230414, + -147.36055658616937, + 62.178656155577045 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 88.0, + -140.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-2-8_1583887958/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-2-8_1583887958/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..91db16547e35db2b81fae0fd286b0fb5ee938c73 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-2-8_1583887958/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1403.6783394639965, + -485.2548517501612, + 65.23670528492403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1400.6783394639965, + -485.2548517501612, + 65.23670528492403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1397.6783394639965, + -485.2548517501612, + 65.23670528492403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1394.6783394639965, + -485.2548517501612, + 65.23670528492403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1391.6783394639965, + -485.2548517501612, + 65.23670528492403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1388.6783394639965, + -485.2548517501612, + 65.23670528492403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1385.6783394639965, + -485.2548517501612, + 65.23670528492403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1382.6783394639965, + -485.2548517501612, + 65.23670528492403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1379.6783394639965, + -485.2548517501612, + 65.23670528492403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1376.6783394639965, + -485.2548517501612, + 65.23670528492403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1373.6783394639965, + -485.2548517501612, + 65.23670528492403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1370.6783394639965, + -485.2548517501612, + 65.23670528492403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1367.6783394639965, + -485.2548517501612, + 65.23670528492403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1364.6783394639965, + -485.2548517501612, + 65.23670528492403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1361.6783394639965, + -485.2548517501612, + 65.23670528492403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1358.6783394639965, + -485.2548517501612, + 65.23670528492403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1355.6783394639965, + -485.2548517501612, + 65.23670528492403 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1355.6783394639965, + -485.2548517501612, + 65.23670528492403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1353.0802632526431, + -486.7548517501612, + 65.23670528492403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1350.4821870412898, + -488.2548517501612, + 65.23670528492403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1347.8841108299364, + -489.7548517501612, + 65.23670528492403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1345.286034618583, + -491.2548517501612, + 65.23670528492403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1342.6879584072296, + -492.7548517501612, + 65.23670528492403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1340.0898821958763, + -494.2548517501612, + 65.23670528492403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1337.491805984523, + -495.7548517501612, + 65.23670528492403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1334.8937297731695, + -497.2548517501612, + 65.23670528492403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1332.2956535618162, + -498.7548517501612, + 65.23670528492403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1329.6975773504628, + -500.2548517501612, + 65.23670528492403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1327.0995011391094, + -501.7548517501612, + 65.23670528492403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1324.501424927756, + -503.2548517501612, + 65.23670528492403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1321.9033487164027, + -504.7548517501612, + 65.23670528492403 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1256.0, + -516.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-24-15_1672466289/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-24-15_1672466289/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..efd0403094090e0fcf4829092de2a59e30fb7be1 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-24-15_1672466289/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1729.8508612463913, + 149.02904438911577, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1729.8508612463913, + 152.02904438911577, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1729.8508612463913, + 155.02904438911577, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1729.8508612463913, + 158.02904438911577, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1729.8508612463913, + 161.02904438911577, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1729.8508612463913, + 164.02904438911577, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1729.8508612463913, + 167.02904438911577, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1729.8508612463913, + 170.02904438911577, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1729.8508612463913, + 173.02904438911577, + 42.01988916286651 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1729.8508612463913, + 173.02904438911577, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1728.3508612463913, + 175.62712060046908, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1726.8508612463913, + 178.2251968118224, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1725.3508612463913, + 180.82327302317572, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1723.8508612463913, + 183.42134923452903, + 42.01988916286651 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1723.8508612463913, + 183.42134923452903, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1723.8508612463913, + 186.42134923452903, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1723.8508612463913, + 189.42134923452903, + 42.01988916286651 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1723.8508612463913, + 189.42134923452903, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1725.3508612463913, + 192.01942544588235, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1726.8508612463913, + 194.61750165723566, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1728.3508612463913, + 197.21557786858898, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1729.8508612463913, + 199.8136540799423, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1731.3508612463913, + 202.4117302912956, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1732.8508612463913, + 205.00980650264893, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1734.3508612463913, + 207.60788271400224, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1735.8508612463913, + 210.20595892535556, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1737.3508612463913, + 212.80403513670888, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1738.8508612463913, + 215.4021113480622, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1740.3508612463913, + 218.0001875594155, + 42.01988916286651 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1740.3508612463913, + 218.0001875594155, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1742.9489374577447, + 219.5001875594155, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1745.547013669098, + 221.0001875594155, + 42.01988916286651 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1745.547013669098, + 221.0001875594155, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1747.047013669098, + 223.59826377076882, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1748.547013669098, + 226.19633998212214, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1750.047013669098, + 228.79441619347546, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1751.547013669098, + 231.39249240482877, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1753.047013669098, + 233.9905686161821, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1754.547013669098, + 236.5886448275354, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1756.047013669098, + 239.18672103888872, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1757.547013669098, + 241.78479725024204, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1759.047013669098, + 244.38287346159535, + 42.01988916286651 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1759.047013669098, + 244.38287346159535, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1759.047013669098, + 247.38287346159535, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1759.047013669098, + 250.38287346159535, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1759.047013669098, + 253.38287346159535, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1759.047013669098, + 256.38287346159535, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1759.047013669098, + 259.38287346159535, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1759.047013669098, + 262.38287346159535, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1759.047013669098, + 265.38287346159535, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1759.047013669098, + 268.38287346159535, + 42.01988916286651 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1759.047013669098, + 271.38287346159535, + 42.01988916286651 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1768.0, + 296.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-50-18_1915804415/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-50-18_1915804415/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e5a163813cb68895f5c617974b894ddda550826a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-50-18_1915804415/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1209.92017980459, + 557.6986572510042, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1208.42017980459, + 555.1005810396509, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1206.92017980459, + 552.5025048282976, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1205.42017980459, + 549.9044286169442, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1203.92017980459, + 547.3063524055908, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1202.42017980459, + 544.7082761942374, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1200.92017980459, + 542.1101999828841, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1199.42017980459, + 539.5121237715307, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1197.92017980459, + 536.9140475601773, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1196.42017980459, + 534.315971348824, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1194.92017980459, + 531.7178951374706, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1193.42017980459, + 529.1198189261172, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1191.92017980459, + 526.5217427147638, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1190.42017980459, + 523.9236665034105, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1188.92017980459, + 521.3255902920571, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1187.42017980459, + 518.7275140807037, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1185.92017980459, + 516.1294378693503, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1184.42017980459, + 513.531361657997, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1182.92017980459, + 510.93328544664365, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1181.42017980459, + 508.33520923529034, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1179.92017980459, + 505.737133023937, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1178.42017980459, + 503.1390568125837, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1176.92017980459, + 500.5409806012304, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1175.42017980459, + 497.94290438987707, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1173.92017980459, + 495.34482817852376, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1172.42017980459, + 492.74675196717044, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1170.92017980459, + 490.1486757558171, + 62.81274974345547 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1170.92017980459, + 490.1486757558171, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1168.3221035932365, + 488.6486757558171, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1165.7240273818832, + 487.1486757558171, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1163.1259511705298, + 485.6486757558171, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1160.5278749591764, + 484.1486757558171, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1157.929798747823, + 482.6486757558171, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1155.3317225364697, + 481.1486757558171, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1152.7336463251163, + 479.6486757558171, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1150.135570113763, + 478.1486757558171, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1147.5374939024096, + 476.6486757558171, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1144.9394176910562, + 475.1486757558171, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1142.3413414797028, + 473.6486757558171, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1139.7432652683494, + 472.1486757558171, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1137.145189056996, + 470.6486757558171, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1134.5471128456427, + 469.1486757558171, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1131.9490366342893, + 467.6486757558171, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1129.350960422936, + 466.1486757558171, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1126.7528842115826, + 464.6486757558171, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1124.1548080002292, + 463.1486757558171, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1121.5567317888758, + 461.6486757558171, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1118.9586555775224, + 460.1486757558171, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1116.360579366169, + 458.6486757558171, + 62.81274974345547 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1116.360579366169, + 458.6486757558171, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1114.860579366169, + 456.0505995444638, + 62.81274974345547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1113.360579366169, + 453.4525233331105, + 62.81274974345547 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1096.0, + 436.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_15-18-51_339193736/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_15-18-51_339193736/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5e244cfa2d05da5c098dec503792975a3a8529cf --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_15-18-51_339193736/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -17.95824164544746, + -458.77013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -14.958241645447458, + -458.77013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -11.958241645447458, + -458.77013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -8.958241645447458, + -458.77013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -5.958241645447458, + -458.77013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2.9582416454474583, + -458.77013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 0.04175835455254173, + -458.77013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3.0417583545525417, + -458.77013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 6.041758354552542, + -458.77013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 9.041758354552542, + -458.77013329946107, + 67.2484280943795 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 9.041758354552542, + -458.77013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 11.639834565905858, + -460.27013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 14.237910777259174, + -461.77013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 16.83598698861249, + -463.27013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 19.434063199965806, + -464.77013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 22.032139411319122, + -466.27013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 24.630215622672438, + -467.77013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 27.228291834025754, + -469.27013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 29.82636804537907, + -470.77013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 32.424444256732386, + -472.27013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 35.0225204680857, + -473.77013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 37.62059667943902, + -475.27013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 40.218672890792334, + -476.77013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 42.81674910214565, + -478.27013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 45.414825313498966, + -479.77013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 48.01290152485228, + -481.27013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 50.6109777362056, + -482.77013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 53.209053947558914, + -484.27013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 55.80713015891223, + -485.77013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 58.405206370265546, + -487.27013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 61.00328258161886, + -488.77013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 63.60135879297218, + -490.27013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 66.1994350043255, + -491.77013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 68.79751121567881, + -493.27013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 71.39558742703213, + -494.77013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 73.99366363838544, + -496.27013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 76.59173984973876, + -497.77013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 79.18981606109207, + -499.27013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 81.78789227244539, + -500.77013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 84.3859684837987, + -502.27013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 86.98404469515202, + -503.77013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 89.58212090650534, + -505.27013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 92.18019711785865, + -506.77013329946107, + 67.2484280943795 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 94.77827332921197, + -508.27013329946107, + 67.2484280943795 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 124.0, + -520.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_15-24-11_1186241694/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_15-24-11_1186241694/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..10ddd1fe254c355d7fa0f16453f9610013665830 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_15-24-11_1186241694/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 725.5615047720502, + -1279.1780812638306, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 722.9634285606969, + -1277.6780812638306, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 720.3653523493435, + -1276.1780812638306, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 717.7672761379902, + -1274.6780812638306, + 49.646553445951156 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 717.7672761379902, + -1274.6780812638306, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 716.2672761379902, + -1272.0800050524772, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 714.7672761379902, + -1269.4819288411238, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 713.2672761379902, + -1266.8838526297704, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 711.7672761379902, + -1264.285776418417, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 710.2672761379902, + -1261.6877002070637, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 708.7672761379902, + -1259.0896239957103, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 707.2672761379902, + -1256.491547784357, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 705.7672761379902, + -1253.8934715730036, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 704.2672761379902, + -1251.2953953616502, + 49.646553445951156 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 704.2672761379902, + -1251.2953953616502, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 704.2672761379902, + -1248.2953953616502, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 704.2672761379902, + -1245.2953953616502, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 704.2672761379902, + -1242.2953953616502, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 704.2672761379902, + -1239.2953953616502, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 704.2672761379902, + -1236.2953953616502, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 704.2672761379902, + -1233.2953953616502, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 704.2672761379902, + -1230.2953953616502, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 704.2672761379902, + -1227.2953953616502, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 704.2672761379902, + -1224.2953953616502, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 704.2672761379902, + -1221.2953953616502, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 704.2672761379902, + -1218.2953953616502, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 704.2672761379902, + -1215.2953953616502, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 704.2672761379902, + -1212.2953953616502, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 704.2672761379902, + -1209.2953953616502, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 704.2672761379902, + -1206.2953953616502, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 704.2672761379902, + -1203.2953953616502, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 704.2672761379902, + -1200.2953953616502, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 704.2672761379902, + -1197.2953953616502, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 704.2672761379902, + -1194.2953953616502, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 704.2672761379902, + -1191.2953953616502, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 704.2672761379902, + -1188.2953953616502, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 704.2672761379902, + -1185.2953953616502, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 704.2672761379902, + -1182.2953953616502, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 704.2672761379902, + -1179.2953953616502, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 704.2672761379902, + -1176.2953953616502, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 704.2672761379902, + -1173.2953953616502, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 704.2672761379902, + -1170.2953953616502, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 704.2672761379902, + -1167.2953953616502, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 704.2672761379902, + -1164.2953953616502, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 704.2672761379902, + -1161.2953953616502, + 49.646553445951156 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 704.2672761379902, + -1158.2953953616502, + 49.646553445951156 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 696.0, + -1108.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_15-43-48_250198952/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_15-43-48_250198952/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fadc1470f8d9c31eb164a2a5b9f5503f33deac90 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_15-43-48_250198952/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -988.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -991.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -994.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -997.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1000.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1003.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1006.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1009.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1012.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1015.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1018.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1021.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1024.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1027.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1030.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1033.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1036.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1039.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1042.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1045.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1048.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1051.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1054.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1057.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1060.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1063.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1066.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1069.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1072.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1075.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1078.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1081.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1084.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1087.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1090.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1093.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1096.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1099.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1099.3627907981554, + 1411.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1101.9608670095088, + 1409.7598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1104.5589432208621, + 1408.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1107.1570194322155, + 1406.7598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1109.755095643569, + 1405.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1112.3531718549223, + 1403.7598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1114.9512480662756, + 1402.2598149052515, + 68.01060536343016 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1117.549324277629, + 1400.7598149052515, + 68.01060536343016 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1164.0, + 1396.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_15-8-23_1598527249/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_15-8-23_1598527249/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bc8ffca310202e4c5269b0043ddb16a6a8e50c09 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_15-8-23_1598527249/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1638.839743912511, + 626.1962052479826, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1638.839743912511, + 629.1962052479826, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1638.839743912511, + 632.1962052479826, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1638.839743912511, + 635.1962052479826, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1638.839743912511, + 638.1962052479826, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1638.839743912511, + 641.1962052479826, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1638.839743912511, + 644.1962052479826, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1638.839743912511, + 647.1962052479826, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1638.839743912511, + 650.1962052479826, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1638.839743912511, + 653.1962052479826, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1638.839743912511, + 656.1962052479826, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1638.839743912511, + 659.1962052479826, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1638.839743912511, + 662.1962052479826, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1638.839743912511, + 665.1962052479826, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1638.839743912511, + 668.1962052479826, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1638.839743912511, + 671.1962052479826, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1638.839743912511, + 674.1962052479826, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1638.839743912511, + 677.1962052479826, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1638.839743912511, + 680.1962052479826, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1638.839743912511, + 683.1962052479826, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1638.839743912511, + 686.1962052479826, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1638.839743912511, + 689.1962052479826, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1638.839743912511, + 692.1962052479826, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1638.839743912511, + 695.1962052479826, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1638.839743912511, + 698.1962052479826, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1638.839743912511, + 701.1962052479826, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1638.839743912511, + 704.1962052479826, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1638.839743912511, + 707.1962052479826, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1638.839743912511, + 710.1962052479826, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1638.839743912511, + 713.1962052479826, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1638.839743912511, + 716.1962052479826, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1638.839743912511, + 719.1962052479826, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1638.839743912511, + 722.1962052479826, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1638.839743912511, + 725.1962052479826, + 63.95918819369416 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1638.839743912511, + 725.1962052479826, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1640.339743912511, + 727.7942814593359, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1641.839743912511, + 730.3923576706893, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1643.339743912511, + 732.9904338820427, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1644.839743912511, + 735.588510093396, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1646.339743912511, + 738.1865863047494, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1647.839743912511, + 740.7846625161028, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1649.339743912511, + 743.3827387274562, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1650.839743912511, + 745.9808149388095, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1652.339743912511, + 748.5788911501629, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1653.839743912511, + 751.1769673615163, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1655.339743912511, + 753.7750435728697, + 63.95918819369416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1656.839743912511, + 756.373119784223, + 63.95918819369416 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1664.0, + 784.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-18-49_1926585258/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-18-49_1926585258/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bcc71b46c4f73a352b3b58f1c80d0ec0d608251e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-18-49_1926585258/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1482.4835524809537, + 493.90988011095817, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1483.9835524809537, + 491.31180389960485, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1485.4835524809537, + 488.71372768825154, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1486.9835524809537, + 486.1156514768982, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1488.4835524809537, + 483.5175752655449, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1489.9835524809537, + 480.9194990541916, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1491.4835524809537, + 478.3214228428383, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1492.9835524809537, + 475.72334663148496, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1494.4835524809537, + 473.12527042013164, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1495.9835524809537, + 470.5271942087783, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1497.4835524809537, + 467.929117997425, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1498.9835524809537, + 465.3310417860717, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1500.4835524809537, + 462.7329655747184, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1501.9835524809537, + 460.13488936336506, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1503.4835524809537, + 457.53681315201175, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1504.9835524809537, + 454.93873694065843, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1506.4835524809537, + 452.3406607293051, + 62.98524853776673 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1506.4835524809537, + 452.3406607293051, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1509.081628692307, + 450.8406607293051, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1511.6797049036604, + 449.3406607293051, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1514.2777811150138, + 447.8406607293051, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1516.8758573263672, + 446.3406607293051, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1519.4739335377205, + 444.8406607293051, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1522.072009749074, + 443.3406607293051, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1524.6700859604273, + 441.8406607293051, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1527.2681621717807, + 440.3406607293051, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1529.866238383134, + 438.8406607293051, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1532.4643145944874, + 437.3406607293051, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1535.0623908058408, + 435.8406607293051, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1537.6604670171942, + 434.3406607293051, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1540.2585432285475, + 432.8406607293051, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1542.856619439901, + 431.3406607293051, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1545.4546956512543, + 429.8406607293051, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1548.0527718626076, + 428.3406607293051, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1550.650848073961, + 426.8406607293051, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1553.2489242853144, + 425.3406607293051, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1555.8470004966678, + 423.8406607293051, + 62.98524853776673 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1555.8470004966678, + 423.8406607293051, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1557.3470004966678, + 421.2425845179518, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1558.8470004966678, + 418.6445083065985, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1560.3470004966678, + 416.04643209524517, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1561.8470004966678, + 413.44835588389185, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1563.3470004966678, + 410.85027967253853, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1564.8470004966678, + 408.2522034611852, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1566.3470004966678, + 405.6541272498319, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1567.8470004966678, + 403.0560510384786, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1569.3470004966678, + 400.45797482712527, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1570.8470004966678, + 397.85989861577195, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1572.3470004966678, + 395.26182240441864, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1573.8470004966678, + 392.6637461930653, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1575.3470004966678, + 390.065669981712, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1576.8470004966678, + 387.4675937703587, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1578.3470004966678, + 384.8695175590054, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1579.8470004966678, + 382.27144134765206, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1581.3470004966678, + 379.67336513629874, + 62.98524853776673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1582.8470004966678, + 377.0752889249454, + 62.98524853776673 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1600.0, + 360.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-19-42_1376539012/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-19-42_1376539012/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..82eecb0c56e8b4b0740f0dc93ae4f6704262f806 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-19-42_1376539012/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1064.5048424960792, + 1640.5490262198614, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1063.0048424960792, + 1643.1471024312148, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1061.5048424960792, + 1645.7451786425681, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1060.0048424960792, + 1648.3432548539215, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1058.5048424960792, + 1650.9413310652749, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1057.0048424960792, + 1653.5394072766283, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1055.5048424960792, + 1656.1374834879816, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1054.0048424960792, + 1658.735559699335, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1052.5048424960792, + 1661.3336359106884, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1051.0048424960792, + 1663.9317121220417, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1049.5048424960792, + 1666.5297883333951, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1048.0048424960792, + 1669.1278645447485, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1046.5048424960792, + 1671.7259407561019, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1045.0048424960792, + 1674.3240169674552, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1043.5048424960792, + 1676.9220931788086, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1042.0048424960792, + 1679.520169390162, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1040.5048424960792, + 1682.1182456015154, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1039.0048424960792, + 1684.7163218128687, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1037.5048424960792, + 1687.314398024222, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1036.0048424960792, + 1689.9124742355755, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1034.5048424960792, + 1692.5105504469288, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1033.0048424960792, + 1695.1086266582822, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1031.5048424960792, + 1697.7067028696356, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1030.0048424960792, + 1700.304779080989, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1028.5048424960792, + 1702.9028552923423, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1027.0048424960792, + 1705.5009315036957, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1025.5048424960792, + 1708.099007715049, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1024.0048424960792, + 1710.6970839264025, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1022.5048424960792, + 1713.2951601377558, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1021.0048424960792, + 1715.8932363491092, + 51.74309111875199 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1021.0048424960792, + 1715.8932363491092, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1018.4067662847258, + 1717.3932363491092, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1015.8086900733724, + 1718.8932363491092, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1013.210613862019, + 1720.3932363491092, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1010.6125376506657, + 1721.8932363491092, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1008.0144614393123, + 1723.3932363491092, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1005.4163852279589, + 1724.8932363491092, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1002.8183090166056, + 1726.3932363491092, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1000.2202328052522, + 1727.8932363491092, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 997.6221565938988, + 1729.3932363491092, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 995.0240803825454, + 1730.8932363491092, + 51.74309111875199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 992.4260041711921, + 1732.3932363491092, + 51.74309111875199 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 960.0, + 1772.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-2-46_981725170/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-2-46_981725170/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9608349894a66afc83b5326d89ef7c408d5068ab --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-2-46_981725170/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1056.1160575829986, + -588.7823922745963, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1058.714133794352, + -590.2823922745963, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1061.3122100057053, + -591.7823922745963, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1063.9102862170587, + -593.2823922745963, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1066.508362428412, + -594.7823922745963, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1069.1064386397654, + -596.2823922745963, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1071.7045148511188, + -597.7823922745963, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1074.3025910624722, + -599.2823922745963, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1076.9006672738255, + -600.7823922745963, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1079.498743485179, + -602.2823922745963, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1082.0968196965323, + -603.7823922745963, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1084.6948959078857, + -605.2823922745963, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1087.292972119239, + -606.7823922745963, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1089.8910483305924, + -608.2823922745963, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1092.4891245419458, + -609.7823922745963, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1095.0872007532992, + -611.2823922745963, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1097.6852769646525, + -612.7823922745963, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1100.283353176006, + -614.2823922745963, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1102.8814293873593, + -615.7823922745963, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1105.4795055987126, + -617.2823922745963, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1108.077581810066, + -618.7823922745963, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1110.6756580214194, + -620.2823922745963, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1113.2737342327728, + -621.7823922745963, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1115.8718104441261, + -623.2823922745963, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1118.4698866554795, + -624.7823922745963, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1121.0679628668329, + -626.2823922745963, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1123.6660390781863, + -627.7823922745963, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1126.2641152895396, + -629.2823922745963, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1128.862191500893, + -630.7823922745963, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1131.4602677122464, + -632.2823922745963, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1134.0583439235998, + -633.7823922745963, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1136.6564201349531, + -635.2823922745963, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1139.2544963463065, + -636.7823922745963, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1141.8525725576599, + -638.2823922745963, + 58.4989561280283 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1141.8525725576599, + -638.2823922745963, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1143.3525725576599, + -640.8804684859497, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1144.8525725576599, + -643.478544697303, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1146.3525725576599, + -646.0766209086564, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1147.8525725576599, + -648.6746971200098, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1149.3525725576599, + -651.2727733313632, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1150.8525725576599, + -653.8708495427165, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1152.3525725576599, + -656.4689257540699, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1153.8525725576599, + -659.0670019654233, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1155.3525725576599, + -661.6650781767767, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1156.8525725576599, + -664.26315438813, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1158.3525725576599, + -666.8612305994834, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1159.8525725576599, + -669.4593068108368, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1161.3525725576599, + -672.0573830221902, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1162.8525725576599, + -674.6554592335435, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1164.3525725576599, + -677.2535354448969, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1165.8525725576599, + -679.8516116562503, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1167.3525725576599, + -682.4496878676036, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1168.8525725576599, + -685.047764078957, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1170.3525725576599, + -687.6458402903104, + 58.4989561280283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1171.8525725576599, + -690.2439165016638, + 58.4989561280283 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1184.0, + -704.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-22-9_1401016538/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-22-9_1401016538/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8feb9c753299c9dc0b69cacc3978caaf753572b7 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-22-9_1401016538/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 941.9792450066064, + -246.54323383521185, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 940.4792450066064, + -243.94515762385853, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 938.9792450066064, + -241.34708141250522, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 937.4792450066064, + -238.7490052011519, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 935.9792450066064, + -236.1509289897986, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 934.4792450066064, + -233.55285277844527, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 932.9792450066064, + -230.95477656709195, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 931.4792450066064, + -228.35670035573864, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 929.9792450066064, + -225.75862414438532, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 928.4792450066064, + -223.160547933032, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 926.9792450066064, + -220.5624717216787, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 925.4792450066064, + -217.96439551032537, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 923.9792450066064, + -215.36631929897206, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 922.4792450066064, + -212.76824308761874, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 920.9792450066064, + -210.17016687626543, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 919.4792450066064, + -207.5720906649121, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 917.9792450066064, + -204.9740144535588, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 916.4792450066064, + -202.37593824220548, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 914.9792450066064, + -199.77786203085216, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 913.4792450066064, + -197.17978581949885, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 911.9792450066064, + -194.58170960814553, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 910.4792450066064, + -191.98363339679221, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 908.9792450066064, + -189.3855571854389, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 907.4792450066064, + -186.78748097408558, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 905.9792450066064, + -184.18940476273227, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 904.4792450066064, + -181.59132855137895, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 902.9792450066064, + -178.99325234002563, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 901.4792450066064, + -176.39517612867232, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 899.9792450066064, + -173.797099917319, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 898.4792450066064, + -171.1990237059657, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 896.9792450066064, + -168.60094749461237, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 895.4792450066064, + -166.00287128325905, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 893.9792450066064, + -163.40479507190574, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 892.4792450066064, + -160.80671886055242, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 890.9792450066064, + -158.2086426491991, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 889.4792450066064, + -155.6105664378458, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 887.9792450066064, + -153.01249022649247, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 886.4792450066064, + -150.41441401513916, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 884.9792450066064, + -147.81633780378584, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 883.4792450066064, + -145.21826159243253, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 881.9792450066064, + -142.6201853810792, + 50.248114938440594 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 881.9792450066064, + -142.6201853810792, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 879.3811687952532, + -141.1201853810792, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 876.7830925838998, + -139.6201853810792, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 874.1850163725464, + -138.1201853810792, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 871.5869401611931, + -136.6201853810792, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 868.9888639498397, + -135.1201853810792, + 50.248114938440594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 866.3907877384863, + -133.6201853810792, + 50.248114938440594 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 848.0, + -104.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-42-1_2020532420/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-42-1_2020532420/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6000ca56abd6104919dffdb2cc96f62132535fdb --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-42-1_2020532420/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1353.7261854914545, + -897.6716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1356.7261854914545, + -897.6716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1359.7261854914545, + -897.6716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1362.7261854914545, + -897.6716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1365.7261854914545, + -897.6716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1368.7261854914545, + -897.6716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1371.7261854914545, + -897.6716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1374.7261854914545, + -897.6716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1377.7261854914545, + -897.6716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1380.7261854914545, + -897.6716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1383.7261854914545, + -897.6716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1386.7261854914545, + -897.6716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1389.7261854914545, + -897.6716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1392.7261854914545, + -897.6716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1395.7261854914545, + -897.6716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1398.7261854914545, + -897.6716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1401.7261854914545, + -897.6716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1404.7261854914545, + -897.6716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1407.7261854914545, + -897.6716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1410.7261854914545, + -897.6716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1413.7261854914545, + -897.6716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1416.7261854914545, + -897.6716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1419.7261854914545, + -897.6716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1422.7261854914545, + -897.6716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1425.7261854914545, + -897.6716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1428.7261854914545, + -897.6716364777699, + 61.522678804712996 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1428.7261854914545, + -897.6716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1431.324261702808, + -896.1716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1433.9223379141613, + -894.6716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1436.5204141255147, + -893.1716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1439.118490336868, + -891.6716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1441.7165665482214, + -890.1716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1444.3146427595748, + -888.6716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1446.9127189709282, + -887.1716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1449.5107951822815, + -885.6716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1452.108871393635, + -884.1716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1454.7069476049883, + -882.6716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1457.3050238163416, + -881.1716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1459.903100027695, + -879.6716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1462.5011762390484, + -878.1716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1465.0992524504018, + -876.6716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1467.6973286617551, + -875.1716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1470.2954048731085, + -873.6716364777699, + 61.522678804712996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1472.8934810844619, + -872.1716364777699, + 61.522678804712996 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1504.0, + -868.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_17-20-50_1828585542/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_17-20-50_1828585542/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0cd662acf23e6c6bd7b877459041c8c0058fb284 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_17-20-50_1828585542/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1730.4522706612652, + -904.9440494739688, + 69.79044360009881 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1733.0503468726185, + -906.4440494739688, + 69.79044360009881 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1735.648423083972, + -907.9440494739688, + 69.79044360009881 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1738.2464992953253, + -909.4440494739688, + 69.79044360009881 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1740.8445755066787, + -910.9440494739688, + 69.79044360009881 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1743.442651718032, + -912.4440494739688, + 69.79044360009881 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1746.0407279293854, + -913.9440494739688, + 69.79044360009881 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1748.6388041407388, + -915.4440494739688, + 69.79044360009881 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1751.2368803520922, + -916.9440494739688, + 69.79044360009881 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1753.8349565634455, + -918.4440494739688, + 69.79044360009881 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1756.433032774799, + -919.9440494739688, + 69.79044360009881 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1759.0311089861523, + -921.4440494739688, + 69.79044360009881 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1761.6291851975056, + -922.9440494739688, + 69.79044360009881 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1764.227261408859, + -924.4440494739688, + 69.79044360009881 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1766.8253376202124, + -925.9440494739688, + 69.79044360009881 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1769.4234138315658, + -927.4440494739688, + 69.79044360009881 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1864.0, + -992.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_17-5-4_1626717774/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_17-5-4_1626717774/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d9e3d85341a1fe3090feca2df23b821104bc442c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_17-5-4_1626717774/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1489.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1492.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1495.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1498.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1501.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1504.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1507.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1510.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1513.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1516.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1519.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1522.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1525.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1528.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1531.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1534.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1537.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1540.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1543.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1546.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1549.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1552.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1555.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1558.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1561.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1564.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1567.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1570.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1573.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1576.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1579.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1582.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1585.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1588.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1591.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1594.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1597.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1600.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1603.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1606.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1609.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1612.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1615.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1618.6981083427252, + 523.4119706250632, + 40.60825597131171 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1640.0, + 524.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_17-56-1_346780946/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_17-56-1_346780946/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c7b436fdb85e9768b6e8f350f4a0772868d80847 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_17-56-1_346780946/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1178.8566678369202, + -100.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1178.8566678369202, + -103.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1178.8566678369202, + -106.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1178.8566678369202, + -109.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1178.8566678369202, + -112.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1178.8566678369202, + -115.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1178.8566678369202, + -118.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1178.8566678369202, + -121.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1178.8566678369202, + -124.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1178.8566678369202, + -127.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1178.8566678369202, + -130.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1178.8566678369202, + -133.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1178.8566678369202, + -136.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1178.8566678369202, + -139.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1178.8566678369202, + -142.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1178.8566678369202, + -145.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1178.8566678369202, + -148.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1178.8566678369202, + -151.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1178.8566678369202, + -154.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1178.8566678369202, + -157.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1178.8566678369202, + -160.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1178.8566678369202, + -163.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1178.8566678369202, + -166.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1178.8566678369202, + -169.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1178.8566678369202, + -172.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1178.8566678369202, + -175.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1178.8566678369202, + -178.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1178.8566678369202, + -181.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1178.8566678369202, + -184.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1178.8566678369202, + -187.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1178.8566678369202, + -190.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1178.8566678369202, + -193.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1178.8566678369202, + -196.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1178.8566678369202, + -199.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1178.8566678369202, + -202.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1178.8566678369202, + -205.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1178.8566678369202, + -208.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1178.8566678369202, + -211.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1178.8566678369202, + -214.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1178.8566678369202, + -217.15295396302085, + 50.60930765065951 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1178.8566678369202, + -217.15295396302085, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1180.3566678369202, + -219.75103017437416, + 50.60930765065951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1181.8566678369202, + -222.34910638572748, + 50.60930765065951 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1184.0, + -256.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_17-56-26_1035911917/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_17-56-26_1035911917/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1227c8a4ec690a35855cc30c0ae0371b30afd5b9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_17-56-26_1035911917/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -738.4260013064369, + -1363.7135753453128, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -736.9260013064369, + -1361.1154991339595, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -735.4260013064369, + -1358.517422922606, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -733.9260013064369, + -1355.9193467112527, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -732.4260013064369, + -1353.3212704998994, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -730.9260013064369, + -1350.723194288546, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -729.4260013064369, + -1348.1251180771926, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -727.9260013064369, + -1345.5270418658392, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -726.4260013064369, + -1342.9289656544859, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -724.9260013064369, + -1340.3308894431325, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -723.4260013064369, + -1337.7328132317791, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -721.9260013064369, + -1335.1347370204257, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -720.4260013064369, + -1332.5366608090724, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -718.9260013064369, + -1329.938584597719, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -717.4260013064369, + -1327.3405083863656, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -715.9260013064369, + -1324.7424321750123, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -714.4260013064369, + -1322.1443559636589, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -712.9260013064369, + -1319.5462797523055, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -711.4260013064369, + -1316.9482035409521, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -709.9260013064369, + -1314.3501273295988, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -708.4260013064369, + -1311.7520511182454, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -706.9260013064369, + -1309.153974906892, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -705.4260013064369, + -1306.5558986955386, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -703.9260013064369, + -1303.9578224841853, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -702.4260013064369, + -1301.359746272832, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -700.9260013064369, + -1298.7616700614785, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -699.4260013064369, + -1296.1635938501252, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -697.9260013064369, + -1293.5655176387718, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -696.4260013064369, + -1290.9674414274184, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -694.9260013064369, + -1288.369365216065, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -693.4260013064369, + -1285.7712890047117, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -691.9260013064369, + -1283.1732127933583, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -690.4260013064369, + -1280.575136582005, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -688.9260013064369, + -1277.9770603706515, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -687.4260013064369, + -1275.3789841592982, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -685.9260013064369, + -1272.7809079479448, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -684.4260013064369, + -1270.1828317365914, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -682.9260013064369, + -1267.584755525238, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -681.4260013064369, + -1264.9866793138847, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -679.9260013064369, + -1262.3886031025313, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -678.4260013064369, + -1259.790526891178, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -676.9260013064369, + -1257.1924506798246, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -675.4260013064369, + -1254.5943744684712, + 59.175580336288064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -673.9260013064369, + -1251.9962982571178, + 59.175580336288064 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -660.0, + -1232.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_17-56-54_1555985191/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_17-56-54_1555985191/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..540f55a7f0e1b0bc9c5490661924b8bcc4fa078f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_17-56-54_1555985191/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1660.9538547280033, + 708.1870609756752, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1662.4538547280033, + 710.7851371870286, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1663.9538547280033, + 713.3832133983819, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1665.4538547280033, + 715.9812896097353, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1666.9538547280033, + 718.5793658210887, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1668.4538547280033, + 721.1774420324421, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1669.9538547280033, + 723.7755182437954, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1671.4538547280033, + 726.3735944551488, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1672.9538547280033, + 728.9716706665022, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1674.4538547280033, + 731.5697468778556, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1675.9538547280033, + 734.1678230892089, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1677.4538547280033, + 736.7658993005623, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1678.9538547280033, + 739.3639755119157, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1680.4538547280033, + 741.962051723269, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1681.9538547280033, + 744.5601279346224, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1683.4538547280033, + 747.1582041459758, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1684.9538547280033, + 749.7562803573292, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1686.4538547280033, + 752.3543565686825, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1687.9538547280033, + 754.9524327800359, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1689.4538547280033, + 757.5505089913893, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1690.9538547280033, + 760.1485852027427, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1692.4538547280033, + 762.746661414096, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1693.9538547280033, + 765.3447376254494, + 69.82813274262507 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1693.9538547280033, + 765.3447376254494, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1696.5519309393567, + 766.8447376254494, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1699.15000715071, + 768.3447376254494, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1701.7480833620634, + 769.8447376254494, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1704.3461595734168, + 771.3447376254494, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1706.9442357847702, + 772.8447376254494, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1709.5423119961235, + 774.3447376254494, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1712.140388207477, + 775.8447376254494, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1714.7384644188303, + 777.3447376254494, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1717.3365406301837, + 778.8447376254494, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1719.934616841537, + 780.3447376254494, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1722.5326930528904, + 781.8447376254494, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1725.1307692642438, + 783.3447376254494, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1727.7288454755972, + 784.8447376254494, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1730.3269216869505, + 786.3447376254494, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1732.924997898304, + 787.8447376254494, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1735.5230741096573, + 789.3447376254494, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1738.1211503210106, + 790.8447376254494, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1740.719226532364, + 792.3447376254494, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1743.3173027437174, + 793.8447376254494, + 69.82813274262507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1745.9153789550708, + 795.3447376254494, + 69.82813274262507 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1768.0, + 816.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-25-4_113658790/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-25-4_113658790/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5adfa0daab3cc9c4fb35a28dd58c5397efa12079 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-25-4_113658790/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1757.1810286320047, + -957.4994072932208, + 66.89585599522002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1755.6810286320047, + -960.097483504574, + 66.89585599522002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1754.1810286320047, + -962.6955597159274, + 66.89585599522002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1752.6810286320047, + -965.2936359272808, + 66.89585599522002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1751.1810286320047, + -967.8917121386341, + 66.89585599522002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1749.6810286320047, + -970.4897883499875, + 66.89585599522002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1748.1810286320047, + -973.0878645613409, + 66.89585599522002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1746.6810286320047, + -975.6859407726943, + 66.89585599522002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1745.1810286320047, + -978.2840169840476, + 66.89585599522002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1743.6810286320047, + -980.882093195401, + 66.89585599522002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1742.1810286320047, + -983.4801694067544, + 66.89585599522002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1740.6810286320047, + -986.0782456181078, + 66.89585599522002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1739.1810286320047, + -988.6763218294611, + 66.89585599522002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1737.6810286320047, + -991.2743980408145, + 66.89585599522002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1736.1810286320047, + -993.8724742521679, + 66.89585599522002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1734.6810286320047, + -996.4705504635212, + 66.89585599522002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1733.1810286320047, + -999.0686266748746, + 66.89585599522002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1731.6810286320047, + -1001.666702886228, + 66.89585599522002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1730.1810286320047, + -1004.2647790975814, + 66.89585599522002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1728.6810286320047, + -1006.8628553089347, + 66.89585599522002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1727.1810286320047, + -1009.4609315202881, + 66.89585599522002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1725.6810286320047, + -1012.0590077316415, + 66.89585599522002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1724.1810286320047, + -1014.6570839429949, + 66.89585599522002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1722.6810286320047, + -1017.2551601543482, + 66.89585599522002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1721.1810286320047, + -1019.8532363657016, + 66.89585599522002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1719.6810286320047, + -1022.451312577055, + 66.89585599522002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1718.1810286320047, + -1025.0493887884084, + 66.89585599522002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1716.6810286320047, + -1027.6474649997617, + 66.89585599522002 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1716.6810286320047, + -1027.6474649997617, + 66.89585599522002 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1714.0829524206513, + -1029.1474649997617, + 66.89585599522002 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1711.484876209298, + -1030.6474649997617, + 66.89585599522002 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1708.8867999979445, + -1032.1474649997617, + 66.89585599522002 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1706.2887237865912, + -1033.6474649997617, + 66.89585599522002 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1703.6906475752378, + -1035.1474649997617, + 66.89585599522002 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1701.0925713638844, + -1036.6474649997617, + 66.89585599522002 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1698.494495152531, + -1038.1474649997617, + 66.89585599522002 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1695.8964189411777, + -1039.6474649997617, + 66.89585599522002 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1693.2983427298243, + -1041.1474649997617, + 66.89585599522002 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1690.700266518471, + -1042.6474649997617, + 66.89585599522002 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1660.0, + -1084.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-28-24_1648440876/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-28-24_1648440876/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e248b3ac4c39cf4098df39e87ac100be75e1a5a3 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-28-24_1648440876/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1778.3687713462093, + -1246.44049615858, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1776.8687713462093, + -1249.0385723699333, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1775.3687713462093, + -1251.6366485812866, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1773.8687713462093, + -1254.23472479264, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1772.3687713462093, + -1256.8328010039934, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1770.8687713462093, + -1259.4308772153468, + 60.79966626027984 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1770.8687713462093, + -1259.4308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1768.270695134856, + -1260.9308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1765.6726189235026, + -1262.4308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1763.0745427121492, + -1263.9308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1760.4764665007958, + -1265.4308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1757.8783902894425, + -1266.9308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1755.280314078089, + -1268.4308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1752.6822378667357, + -1269.9308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1750.0841616553823, + -1271.4308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1747.486085444029, + -1272.9308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1744.8880092326756, + -1274.4308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1742.2899330213222, + -1275.9308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1739.6918568099688, + -1277.4308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1737.0937805986155, + -1278.9308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1734.495704387262, + -1280.4308772153468, + 60.79966626027984 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1734.495704387262, + -1280.4308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1731.495704387262, + -1280.4308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1728.495704387262, + -1280.4308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1725.495704387262, + -1280.4308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1722.495704387262, + -1280.4308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1719.495704387262, + -1280.4308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1716.495704387262, + -1280.4308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1713.495704387262, + -1280.4308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1710.495704387262, + -1280.4308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1707.495704387262, + -1280.4308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1704.495704387262, + -1280.4308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1701.495704387262, + -1280.4308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1698.495704387262, + -1280.4308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1695.495704387262, + -1280.4308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1692.495704387262, + -1280.4308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1689.495704387262, + -1280.4308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1686.495704387262, + -1280.4308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1683.495704387262, + -1280.4308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1680.495704387262, + -1280.4308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1677.495704387262, + -1280.4308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1674.495704387262, + -1280.4308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1671.495704387262, + -1280.4308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1668.495704387262, + -1280.4308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1665.495704387262, + -1280.4308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1662.495704387262, + -1280.4308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1659.495704387262, + -1280.4308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1656.495704387262, + -1280.4308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1653.495704387262, + -1280.4308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1650.495704387262, + -1280.4308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1647.495704387262, + -1280.4308772153468, + 60.79966626027984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1644.495704387262, + -1280.4308772153468, + 60.79966626027984 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1608.0, + -1292.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-30-3_520716454/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-30-3_520716454/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f87b1206e625ba08eea68ff0da5fa1f6f3e2d207 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-30-3_520716454/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 192.32173769547495, + -330.7987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 189.72366148412164, + -332.2987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 187.12558527276832, + -333.7987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 184.527509061415, + -335.2987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 181.9294328500617, + -336.7987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 179.33135663870837, + -338.2987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 176.73328042735506, + -339.7987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 174.13520421600174, + -341.2987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 171.53712800464842, + -342.7987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 168.9390517932951, + -344.2987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 166.3409755819418, + -345.7987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 163.74289937058847, + -347.2987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 161.14482315923516, + -348.7987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 158.54674694788184, + -350.2987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 155.94867073652853, + -351.7987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 153.3505945251752, + -353.2987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 150.7525183138219, + -354.7987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 148.15444210246858, + -356.2987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 145.55636589111526, + -357.7987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 142.95828967976195, + -359.2987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 140.36021346840863, + -360.7987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 137.76213725705531, + -362.2987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 135.164061045702, + -363.7987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 132.56598483434868, + -365.2987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 129.96790862299537, + -366.7987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 127.36983241164205, + -368.2987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 124.77175620028873, + -369.7987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 122.17367998893542, + -371.2987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 119.5756037775821, + -372.7987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 116.97752756622879, + -374.2987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 114.37945135487547, + -375.7987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 111.78137514352215, + -377.2987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 109.18329893216884, + -378.7987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 106.58522272081552, + -380.2987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 103.9871465094622, + -381.7987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 101.38907029810889, + -383.2987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 98.79099408675557, + -384.7987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 96.19291787540226, + -386.2987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 93.59484166404894, + -387.7987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 90.99676545269563, + -389.2987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 88.39868924134231, + -390.7987041494048, + 65.23663882152005 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 88.39868924134231, + -390.7987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 85.39868924134231, + -390.7987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 82.39868924134231, + -390.7987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 79.39868924134231, + -390.7987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 76.39868924134231, + -390.7987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 73.39868924134231, + -390.7987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 70.39868924134231, + -390.7987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 67.39868924134231, + -390.7987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 64.39868924134231, + -390.7987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 61.39868924134231, + -390.7987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 58.39868924134231, + -390.7987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 55.39868924134231, + -390.7987041494048, + 65.23663882152005 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 55.39868924134231, + -390.7987041494048, + 65.23663882152005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 52.800613029988995, + -392.2987041494048, + 65.23663882152005 + ], + "type": "stop", + "value": 0, + "yaw": 3.665191429188092 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 28.0, + -404.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-51-49_253655458/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-51-49_253655458/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e80cfc93dc65c950d97024afab665b48e19c589e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-51-49_253655458/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1396.589673213535, + -429.7763061441038, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1393.589673213535, + -429.7763061441038, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1390.589673213535, + -429.7763061441038, + 40.18655124872145 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1390.589673213535, + -429.7763061441038, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1387.9915970021816, + -431.2763061441038, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1385.3935207908282, + -432.7763061441038, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1382.7954445794749, + -434.2763061441038, + 40.18655124872145 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1382.7954445794749, + -434.2763061441038, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1381.2954445794749, + -436.8743823554571, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1379.7954445794749, + -439.4724585668104, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1378.2954445794749, + -442.07053477816373, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1376.7954445794749, + -444.66861098951705, + 40.18655124872145 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1376.7954445794749, + -444.66861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1374.1973683681215, + -446.16861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1371.5992921567681, + -447.66861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1369.0012159454147, + -449.16861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1366.4031397340614, + -450.66861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1363.805063522708, + -452.16861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1361.2069873113546, + -453.66861098951705, + 40.18655124872145 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1361.2069873113546, + -453.66861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1358.2069873113546, + -453.66861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1355.2069873113546, + -453.66861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1352.2069873113546, + -453.66861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1349.2069873113546, + -453.66861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1346.2069873113546, + -453.66861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1343.2069873113546, + -453.66861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1340.2069873113546, + -453.66861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1337.2069873113546, + -453.66861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1334.2069873113546, + -453.66861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1331.2069873113546, + -453.66861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1328.2069873113546, + -453.66861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1325.2069873113546, + -453.66861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1322.2069873113546, + -453.66861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1319.2069873113546, + -453.66861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1316.2069873113546, + -453.66861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1313.2069873113546, + -453.66861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1310.2069873113546, + -453.66861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1307.2069873113546, + -453.66861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1304.2069873113546, + -453.66861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1301.2069873113546, + -453.66861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1298.2069873113546, + -453.66861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1295.2069873113546, + -453.66861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1292.2069873113546, + -453.66861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1289.2069873113546, + -453.66861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1286.2069873113546, + -453.66861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1283.2069873113546, + -453.66861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1280.2069873113546, + -453.66861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1277.2069873113546, + -453.66861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1274.2069873113546, + -453.66861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1271.2069873113546, + -453.66861098951705, + 40.18655124872145 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1271.2069873113546, + -453.66861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1268.6089111000013, + -452.16861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1266.0108348886479, + -450.66861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1263.4127586772945, + -449.16861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1260.8146824659411, + -447.66861098951705, + 40.18655124872145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1258.2166062545878, + -446.16861098951705, + 40.18655124872145 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1240.0, + -448.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-53-25_1886386216/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-53-25_1886386216/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9a92eee1ce055978772d41cf8aac638683705ac1 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-53-25_1886386216/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 952.7985131382185, + 361.82217588828127, + 56.46042024843174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 955.7985131382185, + 361.82217588828127, + 56.46042024843174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 958.7985131382185, + 361.82217588828127, + 56.46042024843174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 961.7985131382185, + 361.82217588828127, + 56.46042024843174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 964.7985131382185, + 361.82217588828127, + 56.46042024843174 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 964.7985131382185, + 361.82217588828127, + 56.46042024843174 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 964.7985131382185, + 361.82217588828127, + 56.46042024843174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 966.2985131382185, + 364.4202520996346, + 56.46042024843174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 967.7985131382185, + 367.0183283109879, + 56.46042024843174 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 967.7985131382185, + 367.0183283109879, + 56.46042024843174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 970.3965893495717, + 368.5183283109879, + 56.46042024843174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 972.9946655609251, + 370.0183283109879, + 56.46042024843174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 975.5927417722785, + 371.5183283109879, + 56.46042024843174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 978.1908179836319, + 373.0183283109879, + 56.46042024843174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 980.7888941949852, + 374.5183283109879, + 56.46042024843174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 983.3869704063386, + 376.0183283109879, + 56.46042024843174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 985.985046617692, + 377.5183283109879, + 56.46042024843174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 988.5831228290454, + 379.0183283109879, + 56.46042024843174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 991.1811990403987, + 380.5183283109879, + 56.46042024843174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 993.7792752517521, + 382.0183283109879, + 56.46042024843174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 996.3773514631055, + 383.5183283109879, + 56.46042024843174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 998.9754276744588, + 385.0183283109879, + 56.46042024843174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1001.5735038858122, + 386.5183283109879, + 56.46042024843174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1004.1715800971656, + 388.0183283109879, + 56.46042024843174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1006.769656308519, + 389.5183283109879, + 56.46042024843174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1009.3677325198723, + 391.0183283109879, + 56.46042024843174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1011.9658087312257, + 392.5183283109879, + 56.46042024843174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1014.5638849425791, + 394.0183283109879, + 56.46042024843174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1017.1619611539325, + 395.5183283109879, + 56.46042024843174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1019.7600373652858, + 397.0183283109879, + 56.46042024843174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1022.3581135766392, + 398.5183283109879, + 56.46042024843174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1024.9561897879926, + 400.0183283109879, + 56.46042024843174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1027.554265999346, + 401.5183283109879, + 56.46042024843174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1030.1523422106993, + 403.0183283109879, + 56.46042024843174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1032.7504184220527, + 404.5183283109879, + 56.46042024843174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1035.348494633406, + 406.0183283109879, + 56.46042024843174 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1096.0, + 436.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-17-40_1436796072/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-17-40_1436796072/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7bfa604cc49294f274e1c822f57ed623906c73e7 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-17-40_1436796072/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 587.9141497731349, + 721.850825383008, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 589.4141497731349, + 719.2527491716546, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 590.9141497731349, + 716.6546729603012, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 592.4141497731349, + 714.0565967489479, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 593.9141497731349, + 711.4585205375945, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 595.4141497731349, + 708.8604443262411, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 596.9141497731349, + 706.2623681148877, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 598.4141497731349, + 703.6642919035344, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 599.9141497731349, + 701.066215692181, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 601.4141497731349, + 698.4681394808276, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 602.9141497731349, + 695.8700632694743, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 604.4141497731349, + 693.2719870581209, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 605.9141497731349, + 690.6739108467675, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 607.4141497731349, + 688.0758346354141, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 608.9141497731349, + 685.4777584240608, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 610.4141497731349, + 682.8796822127074, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 611.9141497731349, + 680.281606001354, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 613.4141497731349, + 677.6835297900006, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 614.9141497731349, + 675.0854535786473, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 616.4141497731349, + 672.4873773672939, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 617.9141497731349, + 669.8893011559405, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 619.4141497731349, + 667.2912249445872, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 620.9141497731349, + 664.6931487332338, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 622.4141497731349, + 662.0950725218804, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 623.9141497731349, + 659.496996310527, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 625.4141497731349, + 656.8989200991737, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 626.9141497731349, + 654.3008438878203, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 628.4141497731349, + 651.7027676764669, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 629.9141497731349, + 649.1046914651135, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 631.4141497731349, + 646.5066152537602, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 632.9141497731349, + 643.9085390424068, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 634.4141497731349, + 641.3104628310534, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 635.9141497731349, + 638.7123866197, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 637.4141497731349, + 636.1143104083467, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 638.9141497731349, + 633.5162341969933, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 640.4141497731349, + 630.9181579856399, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 641.9141497731349, + 628.3200817742866, + 68.12564803345748 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 641.9141497731349, + 628.3200817742866, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 644.5122259844882, + 626.8200817742866, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 647.1103021958415, + 625.3200817742866, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 649.7083784071949, + 623.8200817742866, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 652.3064546185483, + 622.3200817742866, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 654.9045308299017, + 620.8200817742866, + 68.12564803345748 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 657.502607041255, + 619.3200817742866, + 68.12564803345748 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 688.0, + 576.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-35-4_2050211136/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-35-4_2050211136/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2dd8ab3852681f0c29ce77556f3b2709b5a0bb7e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-35-4_2050211136/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1549.4830789146363, + 704.6729288714, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1550.9830789146363, + 707.2710050827534, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1552.4830789146363, + 709.8690812941068, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1553.9830789146363, + 712.4671575054601, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1555.4830789146363, + 715.0652337168135, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1556.9830789146363, + 717.6633099281669, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1558.4830789146363, + 720.2613861395203, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1559.9830789146363, + 722.8594623508736, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1561.4830789146363, + 725.457538562227, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1562.9830789146363, + 728.0556147735804, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1564.4830789146363, + 730.6536909849337, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1565.9830789146363, + 733.2517671962871, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1567.4830789146363, + 735.8498434076405, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1568.9830789146363, + 738.4479196189939, + 59.25182597561343 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1568.9830789146363, + 738.4479196189939, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1568.9830789146363, + 741.4479196189939, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1568.9830789146363, + 744.4479196189939, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1568.9830789146363, + 747.4479196189939, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1568.9830789146363, + 750.4479196189939, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1568.9830789146363, + 753.4479196189939, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1568.9830789146363, + 756.4479196189939, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1568.9830789146363, + 759.4479196189939, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1568.9830789146363, + 762.4479196189939, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1568.9830789146363, + 765.4479196189939, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1568.9830789146363, + 768.4479196189939, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1568.9830789146363, + 771.4479196189939, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1568.9830789146363, + 774.4479196189939, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1568.9830789146363, + 777.4479196189939, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1568.9830789146363, + 780.4479196189939, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1568.9830789146363, + 783.4479196189939, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1568.9830789146363, + 786.4479196189939, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1568.9830789146363, + 789.4479196189939, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1568.9830789146363, + 792.4479196189939, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1568.9830789146363, + 795.4479196189939, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1568.9830789146363, + 798.4479196189939, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1568.9830789146363, + 801.4479196189939, + 59.25182597561343 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1568.9830789146363, + 801.4479196189939, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1570.4830789146363, + 804.0459958303472, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1571.9830789146363, + 806.6440720417006, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1573.4830789146363, + 809.242148253054, + 59.25182597561343 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1573.4830789146363, + 809.242148253054, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1576.0811551259897, + 810.742148253054, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1578.679231337343, + 812.242148253054, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1581.2773075486964, + 813.742148253054, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1583.8753837600498, + 815.242148253054, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1586.4734599714031, + 816.742148253054, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1589.0715361827565, + 818.242148253054, + 59.25182597561343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1591.66961239411, + 819.742148253054, + 59.25182597561343 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1612.0, + 872.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-53-36_883401305/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-53-36_883401305/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a2bd6dbd66e5afb11d7ec8d3827792484b4b8218 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-53-36_883401305/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1585.5799005963754, + 825.2898473556752, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1587.0799005963754, + 822.6917711443218, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1588.5799005963754, + 820.0936949329684, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1590.0799005963754, + 817.4956187216151, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1591.5799005963754, + 814.8975425102617, + 67.21695504807953 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1591.5799005963754, + 814.8975425102617, + 67.21695504807953 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1591.5799005963754, + 814.8975425102617, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897833 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1594.5799005963754, + 814.8975425102617, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1597.5799005963754, + 814.8975425102617, + 67.21695504807953 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1597.5799005963754, + 814.8975425102617, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1600.1779768077288, + 813.3975425102617, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1602.7760530190822, + 811.8975425102617, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1605.3741292304355, + 810.3975425102617, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1607.972205441789, + 808.8975425102617, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1610.5702816531423, + 807.3975425102617, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1613.1683578644956, + 805.8975425102617, + 67.21695504807953 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1613.1683578644956, + 805.8975425102617, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1614.6683578644956, + 803.2994662989083, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1616.1683578644956, + 800.701390087555, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1617.6683578644956, + 798.1033138762016, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1619.1683578644956, + 795.5052376648482, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1620.6683578644956, + 792.9071614534948, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1622.1683578644956, + 790.3090852421415, + 67.21695504807953 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1622.1683578644956, + 790.3090852421415, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1622.1683578644956, + 787.3090852421415, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1622.1683578644956, + 784.3090852421415, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1622.1683578644956, + 781.3090852421415, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1622.1683578644956, + 778.3090852421415, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1622.1683578644956, + 775.3090852421415, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1622.1683578644956, + 772.3090852421415, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1622.1683578644956, + 769.3090852421415, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1622.1683578644956, + 766.3090852421415, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1622.1683578644956, + 763.3090852421415, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1622.1683578644956, + 760.3090852421415, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1622.1683578644956, + 757.3090852421415, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1622.1683578644956, + 754.3090852421415, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1622.1683578644956, + 751.3090852421415, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1622.1683578644956, + 748.3090852421415, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1622.1683578644956, + 745.3090852421415, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1622.1683578644956, + 742.3090852421415, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1622.1683578644956, + 739.3090852421415, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1622.1683578644956, + 736.3090852421415, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1622.1683578644956, + 733.3090852421415, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1622.1683578644956, + 730.3090852421415, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1622.1683578644956, + 727.3090852421415, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1622.1683578644956, + 724.3090852421415, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1622.1683578644956, + 721.3090852421415, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1622.1683578644956, + 718.3090852421415, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1622.1683578644956, + 715.3090852421415, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1622.1683578644956, + 712.3090852421415, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1622.1683578644956, + 709.3090852421415, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1622.1683578644956, + 706.3090852421415, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1622.1683578644956, + 703.3090852421415, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1622.1683578644956, + 700.3090852421415, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1622.1683578644956, + 697.3090852421415, + 67.21695504807953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1622.1683578644956, + 694.3090852421415, + 67.21695504807953 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1628.0, + 672.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-32-40_654829090/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-32-40_654829090/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..147863b8fd8648bc9eeb6ccc0c1dc1b60858e762 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-32-40_654829090/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 390.703673674015, + 871.4551166362813, + 42.23964188910991 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 393.703673674015, + 871.4551166362813, + 42.23964188910991 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 396.703673674015, + 871.4551166362813, + 42.23964188910991 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 399.703673674015, + 871.4551166362813, + 42.23964188910991 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 402.703673674015, + 871.4551166362813, + 42.23964188910991 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 405.703673674015, + 871.4551166362813, + 42.23964188910991 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 405.703673674015, + 871.4551166362813, + 42.23964188910991 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 405.703673674015, + 871.4551166362813, + 42.23964188910991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 407.203673674015, + 868.8570404249281, + 42.23964188910991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 408.703673674015, + 866.2589642135747, + 42.23964188910991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 410.203673674015, + 863.6608880022213, + 42.23964188910991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 411.703673674015, + 861.062811790868, + 42.23964188910991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 413.203673674015, + 858.4647355795146, + 42.23964188910991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 414.703673674015, + 855.8666593681612, + 42.23964188910991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 416.203673674015, + 853.2685831568078, + 42.23964188910991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 417.703673674015, + 850.6705069454545, + 42.23964188910991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 419.203673674015, + 848.0724307341011, + 42.23964188910991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 420.703673674015, + 845.4743545227477, + 42.23964188910991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 422.203673674015, + 842.8762783113943, + 42.23964188910991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 423.703673674015, + 840.278202100041, + 42.23964188910991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 425.203673674015, + 837.6801258886876, + 42.23964188910991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 426.703673674015, + 835.0820496773342, + 42.23964188910991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 428.203673674015, + 832.4839734659809, + 42.23964188910991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 429.703673674015, + 829.8858972546275, + 42.23964188910991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 431.203673674015, + 827.2878210432741, + 42.23964188910991 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 431.203673674015, + 827.2878210432741, + 42.23964188910991 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 433.80174988536834, + 825.7878210432741, + 42.23964188910991 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 436.39982609672165, + 824.2878210432741, + 42.23964188910991 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 438.99790230807497, + 822.7878210432741, + 42.23964188910991 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 441.5959785194283, + 821.2878210432741, + 42.23964188910991 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 444.1940547307816, + 819.7878210432741, + 42.23964188910991 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 446.7921309421349, + 818.2878210432741, + 42.23964188910991 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 449.39020715348823, + 816.7878210432741, + 42.23964188910991 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 451.98828336484155, + 815.2878210432741, + 42.23964188910991 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 454.58635957619487, + 813.7878210432741, + 42.23964188910991 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 457.1844357875482, + 812.2878210432741, + 42.23964188910991 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 459.7825119989015, + 810.7878210432741, + 42.23964188910991 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 462.3805882102548, + 809.2878210432741, + 42.23964188910991 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 464.97866442160813, + 807.7878210432741, + 42.23964188910991 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 516.0, + 768.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-58-48_1597272000/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-58-48_1597272000/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ee0a596385c2bc6479f41a568d8801d995963520 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-58-48_1597272000/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1342.7096096601233, + 1146.9768620376758, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1345.3076858714767, + 1145.4768620376758, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1347.90576208283, + 1143.9768620376758, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1350.5038382941834, + 1142.4768620376758, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1353.1019145055368, + 1140.9768620376758, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1355.6999907168902, + 1139.4768620376758, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1358.2980669282435, + 1137.9768620376758, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1360.896143139597, + 1136.4768620376758, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1363.4942193509503, + 1134.9768620376758, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1366.0922955623037, + 1133.4768620376758, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1368.690371773657, + 1131.9768620376758, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1371.2884479850104, + 1130.4768620376758, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1373.8865241963638, + 1128.9768620376758, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1376.4846004077172, + 1127.4768620376758, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1379.0826766190705, + 1125.9768620376758, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1381.680752830424, + 1124.4768620376758, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1384.2788290417773, + 1122.9768620376758, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1386.8769052531306, + 1121.4768620376758, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1389.474981464484, + 1119.9768620376758, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1392.0730576758374, + 1118.4768620376758, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1394.6711338871908, + 1116.9768620376758, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1397.2692100985441, + 1115.4768620376758, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1399.8672863098975, + 1113.9768620376758, + 59.45324319211639 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1399.8672863098975, + 1113.9768620376758, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1401.3672863098975, + 1111.3787858263224, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1402.8672863098975, + 1108.780709614969, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1404.3672863098975, + 1106.1826334036157, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1405.8672863098975, + 1103.5845571922623, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1407.3672863098975, + 1100.986480980909, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1408.8672863098975, + 1098.3884047695556, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1410.3672863098975, + 1095.7903285582022, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1411.8672863098975, + 1093.1922523468488, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1413.3672863098975, + 1090.5941761354954, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1414.8672863098975, + 1087.996099924142, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1416.3672863098975, + 1085.3980237127887, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1417.8672863098975, + 1082.7999475014353, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1419.3672863098975, + 1080.201871290082, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1420.8672863098975, + 1077.6037950787286, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1422.3672863098975, + 1075.0057188673752, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1423.8672863098975, + 1072.4076426560218, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1425.3672863098975, + 1069.8095664446685, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1426.8672863098975, + 1067.211490233315, + 59.45324319211639 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1426.8672863098975, + 1067.211490233315, + 59.45324319211639 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1429.4653625212509, + 1065.711490233315, + 59.45324319211639 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914846 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1464.0, + 1036.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-19-14_1737386300/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-19-14_1737386300/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9c9f98564b791cf38398191c1e3043f1673f4c1b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-19-14_1737386300/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 27.720248210717557, + 1638.3047382762804, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 29.220248210717557, + 1640.9028144876338, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 30.720248210717557, + 1643.5008906989872, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 32.22024821071756, + 1646.0989669103406, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 33.72024821071756, + 1648.697043121694, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 35.22024821071756, + 1651.2951193330473, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 36.72024821071756, + 1653.8931955444007, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 38.22024821071756, + 1656.491271755754, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 39.72024821071756, + 1659.0893479671074, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 41.22024821071756, + 1661.6874241784608, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 42.72024821071756, + 1664.2855003898142, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 44.22024821071756, + 1666.8835766011675, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 45.72024821071756, + 1669.481652812521, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 47.22024821071756, + 1672.0797290238743, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 48.72024821071756, + 1674.6778052352277, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 50.22024821071756, + 1677.275881446581, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 51.72024821071756, + 1679.8739576579344, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 53.22024821071756, + 1682.4720338692878, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 54.72024821071756, + 1685.0701100806411, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 56.22024821071756, + 1687.6681862919945, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 57.72024821071756, + 1690.266262503348, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 59.22024821071756, + 1692.8643387147013, + 43.874697419874906 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 59.22024821071756, + 1692.8643387147013, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 61.81832442207087, + 1694.3643387147013, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 64.41640063342419, + 1695.8643387147013, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 67.0144768447775, + 1697.3643387147013, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 69.61255305613082, + 1698.8643387147013, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 72.21062926748414, + 1700.3643387147013, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 74.80870547883745, + 1701.8643387147013, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 77.40678169019077, + 1703.3643387147013, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 80.00485790154409, + 1704.8643387147013, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 82.6029341128974, + 1706.3643387147013, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 85.20101032425072, + 1707.8643387147013, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 87.79908653560403, + 1709.3643387147013, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 90.39716274695735, + 1710.8643387147013, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 92.99523895831067, + 1712.3643387147013, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 95.59331516966398, + 1713.8643387147013, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 98.1913913810173, + 1715.3643387147013, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 100.78946759237061, + 1716.8643387147013, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 103.38754380372393, + 1718.3643387147013, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 105.98562001507725, + 1719.8643387147013, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 108.58369622643056, + 1721.3643387147013, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 111.18177243778388, + 1722.8643387147013, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 113.7798486491372, + 1724.3643387147013, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 116.37792486049051, + 1725.8643387147013, + 43.874697419874906 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 116.37792486049051, + 1725.8643387147013, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 117.87792486049051, + 1728.4624149260546, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 119.37792486049051, + 1731.060491137408, + 43.874697419874906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 120.87792486049051, + 1733.6585673487614, + 43.874697419874906 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 140.0, + 1756.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-21-7_466715638/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-21-7_466715638/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7094cd177dede1b0312eb3445b60dd769eb32b6d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-21-7_466715638/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1771.9465154730171, + 633.521159128129, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1769.3484392616638, + 632.021159128129, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1766.7503630503104, + 630.521159128129, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1764.152286838957, + 629.021159128129, + 67.61179842809922 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1764.152286838957, + 629.021159128129, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1762.652286838957, + 626.4230829167757, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1761.152286838957, + 623.8250067054223, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1759.652286838957, + 621.2269304940689, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1758.152286838957, + 618.6288542827156, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1756.652286838957, + 616.0307780713622, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1755.152286838957, + 613.4327018600088, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1753.652286838957, + 610.8346256486554, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1752.152286838957, + 608.2365494373021, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1750.652286838957, + 605.6384732259487, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1749.152286838957, + 603.0403970145953, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1747.652286838957, + 600.442320803242, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1746.152286838957, + 597.8442445918886, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1744.652286838957, + 595.2461683805352, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1743.152286838957, + 592.6480921691818, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1741.652286838957, + 590.0500159578285, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1740.152286838957, + 587.4519397464751, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1738.652286838957, + 584.8538635351217, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1737.152286838957, + 582.2557873237683, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1735.652286838957, + 579.657711112415, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1734.152286838957, + 577.0596349010616, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1732.652286838957, + 574.4615586897082, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1731.152286838957, + 571.8634824783549, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1729.652286838957, + 569.2654062670015, + 67.61179842809922 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1729.652286838957, + 569.2654062670015, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1727.0542106276037, + 567.7654062670015, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1724.4561344162503, + 566.2654062670015, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1721.858058204897, + 564.7654062670015, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1719.2599819935435, + 563.2654062670015, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1716.6619057821902, + 561.7654062670015, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1714.0638295708368, + 560.2654062670015, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1711.4657533594834, + 558.7654062670015, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1708.86767714813, + 557.2654062670015, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1706.2696009367767, + 555.7654062670015, + 67.61179842809922 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1706.2696009367767, + 555.7654062670015, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1703.2696009367767, + 555.7654062670015, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1700.2696009367767, + 555.7654062670015, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1697.2696009367767, + 555.7654062670015, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1694.2696009367767, + 555.7654062670015, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1691.2696009367767, + 555.7654062670015, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1688.2696009367767, + 555.7654062670015, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1685.2696009367767, + 555.7654062670015, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1682.2696009367767, + 555.7654062670015, + 67.61179842809922 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1679.2696009367767, + 555.7654062670015, + 67.61179842809922 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1640.0, + 524.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-30-28_1290883088/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-30-28_1290883088/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3b9ead3c585b23a08ef9ed84992c2a0400583f4b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-30-28_1290883088/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1012.6870233621437, + -1158.4919461882262, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1012.6870233621437, + -1155.4919461882262, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1012.6870233621437, + -1152.4919461882262, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1012.6870233621437, + -1149.4919461882262, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1012.6870233621437, + -1146.4919461882262, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1012.6870233621437, + -1143.4919461882262, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1012.6870233621437, + -1140.4919461882262, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1012.6870233621437, + -1137.4919461882262, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1012.6870233621437, + -1134.4919461882262, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1012.6870233621437, + -1131.4919461882262, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1012.6870233621437, + -1128.4919461882262, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1012.6870233621437, + -1125.4919461882262, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1012.6870233621437, + -1122.4919461882262, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1012.6870233621437, + -1119.4919461882262, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1012.6870233621437, + -1116.4919461882262, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1012.6870233621437, + -1113.4919461882262, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1012.6870233621437, + -1110.4919461882262, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1012.6870233621437, + -1107.4919461882262, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1012.6870233621437, + -1104.4919461882262, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1012.6870233621437, + -1101.4919461882262, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1012.6870233621437, + -1098.4919461882262, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1012.6870233621437, + -1095.4919461882262, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1012.6870233621437, + -1092.4919461882262, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1012.6870233621437, + -1089.4919461882262, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1012.6870233621437, + -1086.4919461882262, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1012.6870233621437, + -1083.4919461882262, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1012.6870233621437, + -1080.4919461882262, + 43.560676147727264 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1012.6870233621437, + -1080.4919461882262, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1011.1870233621437, + -1077.8938699768728, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1009.6870233621437, + -1075.2957937655194, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1008.1870233621437, + -1072.697717554166, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1006.6870233621437, + -1070.0996413428127, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1005.1870233621437, + -1067.5015651314593, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1003.6870233621437, + -1064.903488920106, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1002.1870233621437, + -1062.3054127087526, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1000.6870233621437, + -1059.7073364973992, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -999.1870233621437, + -1057.1092602860458, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -997.6870233621437, + -1054.5111840746924, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -996.1870233621437, + -1051.913107863339, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -994.6870233621437, + -1049.3150316519857, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -993.1870233621437, + -1046.7169554406323, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -991.6870233621437, + -1044.118879229279, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -990.1870233621437, + -1041.5208030179256, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -988.6870233621437, + -1038.9227268065722, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -987.1870233621437, + -1036.3246505952188, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -985.6870233621437, + -1033.7265743838655, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -984.1870233621437, + -1031.128498172512, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -982.6870233621437, + -1028.5304219611587, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -981.1870233621437, + -1025.9323457498053, + 43.560676147727264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -979.6870233621437, + -1023.334269538452, + 43.560676147727264 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -976.0, + -1000.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-39-10_626138954/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-39-10_626138954/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..978e3a311271608612aefb203bf833398c2a7163 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-39-10_626138954/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -456.0029665890967, + 1054.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -456.0029665890967, + 1051.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -456.0029665890967, + 1048.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -456.0029665890967, + 1045.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -456.0029665890967, + 1042.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -456.0029665890967, + 1039.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -456.0029665890967, + 1036.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -456.0029665890967, + 1033.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -456.0029665890967, + 1030.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -456.0029665890967, + 1027.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -456.0029665890967, + 1024.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -456.0029665890967, + 1021.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -456.0029665890967, + 1018.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -456.0029665890967, + 1015.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -456.0029665890967, + 1012.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -456.0029665890967, + 1009.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -456.0029665890967, + 1006.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -456.0029665890967, + 1003.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -456.0029665890967, + 1000.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -456.0029665890967, + 997.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -456.0029665890967, + 994.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -456.0029665890967, + 991.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -456.0029665890967, + 988.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -456.0029665890967, + 985.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -456.0029665890967, + 982.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -456.0029665890967, + 979.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -456.0029665890967, + 976.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -456.0029665890967, + 973.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -456.0029665890967, + 970.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -456.0029665890967, + 967.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -456.0029665890967, + 964.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -456.0029665890967, + 961.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -456.0029665890967, + 958.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -456.0029665890967, + 955.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -456.0029665890967, + 952.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -456.0029665890967, + 949.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -456.0029665890967, + 946.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -456.0029665890967, + 943.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -456.0029665890967, + 940.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -456.0029665890967, + 937.8634514424214, + 55.20134212319728 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -456.0029665890967, + 937.8634514424214, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -454.5029665890967, + 935.265375231068, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -453.0029665890967, + 932.6672990197146, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -451.5029665890967, + 930.0692228083612, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -450.0029665890967, + 927.4711465970079, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -448.5029665890967, + 924.8730703856545, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -447.0029665890967, + 922.2749941743011, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -445.5029665890967, + 919.6769179629478, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -444.0029665890967, + 917.0788417515944, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -442.5029665890967, + 914.480765540241, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -441.0029665890967, + 911.8826893288876, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -439.5029665890967, + 909.2846131175343, + 55.20134212319728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -438.0029665890967, + 906.6865369061809, + 55.20134212319728 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -436.0, + 888.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-9-29_1100418235/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-9-29_1100418235/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e38791a3f40b710c29c94df0d8ac8ccad6d9f8b4 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-9-29_1100418235/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 729.3247566815983, + 1785.4149480099018, + 46.47746881923662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 732.3247566815983, + 1785.4149480099018, + 46.47746881923662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 735.3247566815983, + 1785.4149480099018, + 46.47746881923662 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 735.3247566815983, + 1785.4149480099018, + 46.47746881923662 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 737.9228328929516, + 1783.9149480099018, + 46.47746881923662 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 740.520909104305, + 1782.4149480099018, + 46.47746881923662 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 740.520909104305, + 1782.4149480099018, + 46.47746881923662 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 743.520909104305, + 1782.4149480099018, + 46.47746881923662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 746.520909104305, + 1782.4149480099018, + 46.47746881923662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 749.520909104305, + 1782.4149480099018, + 46.47746881923662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 752.520909104305, + 1782.4149480099018, + 46.47746881923662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 755.520909104305, + 1782.4149480099018, + 46.47746881923662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 758.520909104305, + 1782.4149480099018, + 46.47746881923662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 761.520909104305, + 1782.4149480099018, + 46.47746881923662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 764.520909104305, + 1782.4149480099018, + 46.47746881923662 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 764.520909104305, + 1782.4149480099018, + 46.47746881923662 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 764.520909104305, + 1782.4149480099018, + 46.47746881923662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 766.020909104305, + 1785.0130242212551, + 46.47746881923662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 767.520909104305, + 1787.6111004326085, + 46.47746881923662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 769.020909104305, + 1790.2091766439619, + 46.47746881923662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 770.520909104305, + 1792.8072528553153, + 46.47746881923662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 772.020909104305, + 1795.4053290666686, + 46.47746881923662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 773.520909104305, + 1798.003405278022, + 46.47746881923662 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 896.0, + 1840.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-2-0_2054525/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-2-0_2054525/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9f7cd739ed8a86a7025332180d79e962ec96b488 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-2-0_2054525/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -166.06071122707218, + -353.5818110196759, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -164.56071122707218, + -350.9837348083226, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -163.06071122707218, + -348.3856585969693, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -161.56071122707218, + -345.78758238561596, + 53.98697718502658 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -161.56071122707218, + -345.78758238561596, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -158.96263501571886, + -344.28758238561596, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -156.36455880436554, + -342.78758238561596, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -153.76648259301223, + -341.28758238561596, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -151.1684063816589, + -339.78758238561596, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -148.5703301703056, + -338.28758238561596, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -145.97225395895228, + -336.78758238561596, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -143.37417774759896, + -335.28758238561596, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -140.77610153624565, + -333.78758238561596, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -138.17802532489233, + -332.28758238561596, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -135.57994911353902, + -330.78758238561596, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -132.9818729021857, + -329.28758238561596, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -130.38379669083238, + -327.78758238561596, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -127.78572047947907, + -326.28758238561596, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -125.18764426812575, + -324.78758238561596, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -122.58956805677244, + -323.28758238561596, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -119.99149184541912, + -321.78758238561596, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -117.3934156340658, + -320.28758238561596, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -114.79533942271249, + -318.78758238561596, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -112.19726321135917, + -317.28758238561596, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -109.59918700000586, + -315.78758238561596, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -107.00111078865254, + -314.28758238561596, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -104.40303457729922, + -312.78758238561596, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -101.80495836594591, + -311.28758238561596, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -99.20688215459259, + -309.78758238561596, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -96.60880594323928, + -308.28758238561596, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -94.01072973188596, + -306.78758238561596, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -91.41265352053264, + -305.28758238561596, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -88.81457730917933, + -303.78758238561596, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -86.21650109782601, + -302.28758238561596, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -83.6184248864727, + -300.78758238561596, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -81.02034867511938, + -299.28758238561596, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -78.42227246376606, + -297.78758238561596, + 53.98697718502658 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -78.42227246376606, + -297.78758238561596, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -76.92227246376606, + -295.18950617426265, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -75.42227246376606, + -292.59142996290933, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -73.92227246376606, + -289.993353751556, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -72.42227246376606, + -287.3952775402027, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -70.92227246376606, + -284.7972013288494, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -69.42227246376606, + -282.19912511749607, + 53.98697718502658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -67.92227246376606, + -279.60104890614275, + 53.98697718502658 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -44.0, + -264.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-22-56_948761568/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-22-56_948761568/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c59f199b5e9d775cdbb48cd7fe430906cb25e107 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-22-56_948761568/pose.jsonl @@ -0,0 +1,860 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -66.9269909896471, + -219.6003792952004, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -63.926990989647095, + -219.6003792952004, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -60.926990989647095, + -219.6003792952004, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -57.926990989647095, + -219.6003792952004, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -54.926990989647095, + -219.6003792952004, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -51.926990989647095, + -219.6003792952004, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -48.926990989647095, + -219.6003792952004, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -45.926990989647095, + -219.6003792952004, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -42.926990989647095, + -219.6003792952004, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -39.926990989647095, + -219.6003792952004, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -36.926990989647095, + -219.6003792952004, + 63.18065554579391 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -36.926990989647095, + -219.6003792952004, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -34.32891477829378, + -221.1003792952004, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -31.730838566940463, + -222.6003792952004, + 63.18065554579391 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -31.730838566940463, + -222.6003792952004, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -30.230838566940463, + -225.19845550655373, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -28.730838566940463, + -227.79653171790704, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -27.230838566940463, + -230.39460792926036, + 63.18065554579391 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -27.230838566940463, + -230.39460792926036, + 63.18065554579391 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -27.230838566940463, + -230.39460792926036, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -24.230838566940463, + -230.39460792926036, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -21.230838566940463, + -230.39460792926036, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -18.230838566940463, + -230.39460792926036, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -15.230838566940463, + -230.39460792926036, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -12.230838566940463, + -230.39460792926036, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -9.230838566940463, + -230.39460792926036, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -6.230838566940463, + -230.39460792926036, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -3.230838566940463, + -230.39460792926036, + 63.18065554579391 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -3.230838566940463, + -230.39460792926036, + 63.18065554579391 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -3.230838566940463, + -230.39460792926036, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1.7308385669404625, + -227.79653171790704, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -0.230838566940462, + -225.19845550655373, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1.2691614330595384, + -222.6003792952004, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2.769161433059539, + -220.0023030838471, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4.269161433059539, + -217.40422687249378, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 5.769161433059539, + -214.80615066114046, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 7.269161433059539, + -212.20807444978715, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 8.769161433059539, + -209.60999823843383, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 10.269161433059539, + -207.01192202708052, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 11.769161433059539, + -204.4138458157272, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 13.269161433059539, + -201.81576960437388, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 14.769161433059539, + -199.21769339302057, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 16.26916143305954, + -196.61961718166725, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965972 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 17.76916143305954, + -194.02154097031394, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 19.26916143305954, + -191.42346475896062, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 20.76916143305954, + -188.8253885476073, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 22.26916143305954, + -186.227312336254, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 23.76916143305954, + -183.62923612490067, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 25.26916143305954, + -181.03115991354736, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 26.76916143305954, + -178.43308370219404, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 28.26916143305954, + -175.83500749084072, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 29.76916143305954, + -173.2369312794874, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 31.26916143305954, + -170.6388550681341, + 63.18065554579391 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 31.26916143305954, + -170.6388550681341, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 33.86723764441285, + -169.1388550681341, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982995 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 36.46531385576617, + -167.6388550681341, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 39.063390067119485, + -166.1388550681341, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 41.6614662784728, + -164.6388550681341, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 44.25954248982612, + -163.1388550681341, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 46.85761870117943, + -161.6388550681341, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 49.45569491253275, + -160.1388550681341, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 52.053771123886065, + -158.6388550681341, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 54.65184733523938, + -157.1388550681341, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 57.2499235465927, + -155.6388550681341, + 63.18065554579391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 59.84799975794601, + -154.1388550681341, + 63.18065554579391 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 88.0, + -140.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-27-35_163892983/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-27-35_163892983/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6ad034ef2f7350e2b429bc918d86099db0065cc9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-27-35_163892983/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -105.24714654804572, + 494.93922380649065, + 47.367426977513425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -102.24714654804572, + 494.93922380649065, + 47.367426977513425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -99.24714654804572, + 494.93922380649065, + 47.367426977513425 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -99.24714654804572, + 494.93922380649065, + 47.367426977513425 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -99.24714654804572, + 494.93922380649065, + 47.367426977513425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -97.74714654804572, + 497.53730001784396, + 47.367426977513425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -96.24714654804572, + 500.1353762291973, + 47.367426977513425 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -96.24714654804572, + 500.1353762291973, + 47.367426977513425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -93.6490703366924, + 501.6353762291973, + 47.367426977513425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -91.05099412533909, + 503.1353762291973, + 47.367426977513425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -88.45291791398577, + 504.6353762291973, + 47.367426977513425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -85.85484170263246, + 506.1353762291973, + 47.367426977513425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -83.25676549127914, + 507.6353762291973, + 47.367426977513425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -80.65868927992582, + 509.1353762291973, + 47.367426977513425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -78.06061306857251, + 510.6353762291973, + 47.367426977513425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -75.46253685721919, + 512.1353762291973, + 47.367426977513425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -72.86446064586588, + 513.6353762291973, + 47.367426977513425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -70.26638443451256, + 515.1353762291973, + 47.367426977513425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -67.66830822315924, + 516.6353762291973, + 47.367426977513425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -65.07023201180593, + 518.1353762291973, + 47.367426977513425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -62.47215580045261, + 519.6353762291973, + 47.367426977513425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -59.874079589099296, + 521.1353762291973, + 47.367426977513425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -57.27600337774598, + 522.6353762291973, + 47.367426977513425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -54.677927166392664, + 524.1353762291973, + 47.367426977513425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -52.07985095503935, + 525.6353762291973, + 47.367426977513425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -49.48177474368603, + 527.1353762291973, + 47.367426977513425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -46.883698532332716, + 528.6353762291973, + 47.367426977513425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -44.2856223209794, + 530.1353762291973, + 47.367426977513425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -41.68754610962608, + 531.6353762291973, + 47.367426977513425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -39.08946989827277, + 533.1353762291973, + 47.367426977513425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -36.49139368691945, + 534.6353762291973, + 47.367426977513425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -33.893317475566135, + 536.1353762291973, + 47.367426977513425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -31.29524126421282, + 537.6353762291973, + 47.367426977513425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -28.697165052859503, + 539.1353762291973, + 47.367426977513425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -26.099088841506187, + 540.6353762291973, + 47.367426977513425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -23.50101263015287, + 542.1353762291973, + 47.367426977513425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -20.902936418799555, + 543.6353762291973, + 47.367426977513425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -18.30486020744624, + 545.1353762291973, + 47.367426977513425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -15.706783996092923, + 546.6353762291973, + 47.367426977513425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -13.108707784739607, + 548.1353762291973, + 47.367426977513425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -10.510631573386291, + 549.6353762291973, + 47.367426977513425 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.0, + 576.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-37-46_479615166/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-37-46_479615166/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..72e0e86aff5d79bc428b07ddbf3205a33347adbe --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-37-46_479615166/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 78.54896090643294, + 195.1437462011873, + 61.286835862274344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 81.54896090643294, + 195.1437462011873, + 61.286835862274344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 84.54896090643294, + 195.1437462011873, + 61.286835862274344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 87.54896090643294, + 195.1437462011873, + 61.286835862274344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 90.54896090643294, + 195.1437462011873, + 61.286835862274344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 93.54896090643294, + 195.1437462011873, + 61.286835862274344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 96.54896090643294, + 195.1437462011873, + 61.286835862274344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 99.54896090643294, + 195.1437462011873, + 61.286835862274344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 102.54896090643294, + 195.1437462011873, + 61.286835862274344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 105.54896090643294, + 195.1437462011873, + 61.286835862274344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 108.54896090643294, + 195.1437462011873, + 61.286835862274344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 111.54896090643294, + 195.1437462011873, + 61.286835862274344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 114.54896090643294, + 195.1437462011873, + 61.286835862274344 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 114.54896090643294, + 195.1437462011873, + 61.286835862274344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 117.14703711778625, + 196.6437462011873, + 61.286835862274344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 119.74511332913957, + 198.1437462011873, + 61.286835862274344 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 232.0, + 212.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-4-45_1043880685/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-4-45_1043880685/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..db0b0028d3feb72cecf8211c1353af069c9142d4 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-4-45_1043880685/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 525.1293066956702, + 253.61159215189318, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 525.1293066956702, + 256.6115921518932, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 525.1293066956702, + 259.6115921518932, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 525.1293066956702, + 262.6115921518932, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 525.1293066956702, + 265.6115921518932, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 525.1293066956702, + 268.6115921518932, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 525.1293066956702, + 271.6115921518932, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 525.1293066956702, + 274.6115921518932, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 525.1293066956702, + 277.6115921518932, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 525.1293066956702, + 280.6115921518932, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 525.1293066956702, + 283.6115921518932, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 525.1293066956702, + 286.6115921518932, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 525.1293066956702, + 289.6115921518932, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 525.1293066956702, + 292.6115921518932, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 525.1293066956702, + 295.6115921518932, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 525.1293066956702, + 298.6115921518932, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 525.1293066956702, + 301.6115921518932, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 525.1293066956702, + 304.6115921518932, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 525.1293066956702, + 307.6115921518932, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 525.1293066956702, + 310.6115921518932, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 525.1293066956702, + 313.6115921518932, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 525.1293066956702, + 316.6115921518932, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 525.1293066956702, + 319.6115921518932, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 525.1293066956702, + 322.6115921518932, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 525.1293066956702, + 325.6115921518932, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 525.1293066956702, + 328.6115921518932, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 525.1293066956702, + 331.6115921518932, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 525.1293066956702, + 334.6115921518932, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 525.1293066956702, + 337.6115921518932, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 525.1293066956702, + 340.6115921518932, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 525.1293066956702, + 343.6115921518932, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 525.1293066956702, + 346.6115921518932, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 525.1293066956702, + 349.6115921518932, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 525.1293066956702, + 352.6115921518932, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 525.1293066956702, + 355.6115921518932, + 41.537236110047985 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 525.1293066956702, + 355.6115921518932, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 526.6293066956702, + 358.2096683632465, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 528.1293066956702, + 360.80774457459984, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 529.6293066956702, + 363.40582078595315, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 531.1293066956702, + 366.00389699730647, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 532.6293066956702, + 368.6019732086598, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 534.1293066956702, + 371.2000494200131, + 41.537236110047985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 535.6293066956702, + 373.7981256313664, + 41.537236110047985 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 540.0, + 416.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-46-14_1273972404/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-46-14_1273972404/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4861cb38646e075d8ffdc50768db5afb9dc8e996 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-46-14_1273972404/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1345.2677754664446, + -675.1174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1342.2677754664446, + -675.1174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1339.2677754664446, + -675.1174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1336.2677754664446, + -675.1174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1333.2677754664446, + -675.1174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1330.2677754664446, + -675.1174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1327.2677754664446, + -675.1174002465467, + 64.22744608509502 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1327.2677754664446, + -675.1174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1324.6696992550912, + -676.6174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1322.0716230437379, + -678.1174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1319.4735468323845, + -679.6174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1316.8754706210311, + -681.1174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1314.2773944096778, + -682.6174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1311.6793181983244, + -684.1174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1309.081241986971, + -685.6174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1306.4831657756176, + -687.1174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1303.8850895642643, + -688.6174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1301.287013352911, + -690.1174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1298.6889371415575, + -691.6174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1296.0908609302041, + -693.1174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1293.4927847188508, + -694.6174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1290.8947085074974, + -696.1174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1288.296632296144, + -697.6174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1285.6985560847907, + -699.1174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1283.1004798734373, + -700.6174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1280.502403662084, + -702.1174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1277.9043274507305, + -703.6174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1275.3062512393772, + -705.1174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1272.7081750280238, + -706.6174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1270.1100988166704, + -708.1174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1267.512022605317, + -709.6174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1264.9139463939637, + -711.1174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1262.3158701826103, + -712.6174002465467, + 64.22744608509502 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1262.3158701826103, + -712.6174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1259.3158701826103, + -712.6174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1256.3158701826103, + -712.6174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1253.3158701826103, + -712.6174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1250.3158701826103, + -712.6174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1247.3158701826103, + -712.6174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1244.3158701826103, + -712.6174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1241.3158701826103, + -712.6174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1238.3158701826103, + -712.6174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1235.3158701826103, + -712.6174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1232.3158701826103, + -712.6174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1229.3158701826103, + -712.6174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1226.3158701826103, + -712.6174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1223.3158701826103, + -712.6174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1220.3158701826103, + -712.6174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1217.3158701826103, + -712.6174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1214.3158701826103, + -712.6174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1211.3158701826103, + -712.6174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1208.3158701826103, + -712.6174002465467, + 64.22744608509502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1205.3158701826103, + -712.6174002465467, + 64.22744608509502 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1188.0, + -716.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-47-29_807103978/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-47-29_807103978/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..341abd514a51ee137e7c93310ba64ceef6ef4f10 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-47-29_807103978/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -596.3667671057877, + 1486.1196554360351, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -597.8667671057877, + 1488.7177316473885, + 57.696652523765245 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -597.8667671057877, + 1488.7177316473885, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -600.464843317141, + 1490.2177316473885, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -603.0629195284944, + 1491.7177316473885, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -605.6609957398477, + 1493.2177316473885, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -608.2590719512011, + 1494.7177316473885, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -610.8571481625545, + 1496.2177316473885, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -613.4552243739079, + 1497.7177316473885, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -616.0533005852612, + 1499.2177316473885, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -618.6513767966146, + 1500.7177316473885, + 57.696652523765245 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -618.6513767966146, + 1500.7177316473885, + 57.696652523765245 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -618.6513767966146, + 1500.7177316473885, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.570796326794906 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -618.6513767966146, + 1503.7177316473885, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -618.6513767966146, + 1506.7177316473885, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -618.6513767966146, + 1509.7177316473885, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -618.6513767966146, + 1512.7177316473885, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -618.6513767966146, + 1515.7177316473885, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -618.6513767966146, + 1518.7177316473885, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -618.6513767966146, + 1521.7177316473885, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -618.6513767966146, + 1524.7177316473885, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -618.6513767966146, + 1527.7177316473885, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -618.6513767966146, + 1530.7177316473885, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -618.6513767966146, + 1533.7177316473885, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -618.6513767966146, + 1536.7177316473885, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -618.6513767966146, + 1539.7177316473885, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -618.6513767966146, + 1542.7177316473885, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -618.6513767966146, + 1545.7177316473885, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -618.6513767966146, + 1548.7177316473885, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -618.6513767966146, + 1551.7177316473885, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -618.6513767966146, + 1554.7177316473885, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -618.6513767966146, + 1557.7177316473885, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -618.6513767966146, + 1560.7177316473885, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -618.6513767966146, + 1563.7177316473885, + 57.696652523765245 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -618.6513767966146, + 1563.7177316473885, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -617.1513767966146, + 1566.315807858742, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -615.6513767966146, + 1568.9138840700953, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -614.1513767966146, + 1571.5119602814486, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -612.6513767966146, + 1574.110036492802, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -611.1513767966146, + 1576.7081127041554, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -609.6513767966146, + 1579.3061889155088, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -608.1513767966146, + 1581.9042651268621, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -606.6513767966146, + 1584.5023413382155, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -605.1513767966146, + 1587.1004175495689, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -603.6513767966146, + 1589.6984937609222, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -602.1513767966146, + 1592.2965699722756, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -600.6513767966146, + 1594.894646183629, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -599.1513767966146, + 1597.4927223949824, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -597.6513767966146, + 1600.0907986063357, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -596.1513767966146, + 1602.688874817689, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -594.6513767966146, + 1605.2869510290425, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -593.1513767966146, + 1607.8850272403959, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -591.6513767966146, + 1610.4831034517492, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -590.1513767966146, + 1613.0811796631026, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -588.6513767966146, + 1615.679255874456, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -587.1513767966146, + 1618.2773320858093, + 57.696652523765245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -585.6513767966146, + 1620.8754082971627, + 57.696652523765245 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -580.0, + 1664.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_23-27-31_191021091/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_23-27-31_191021091/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e537a5124d6a311fd9c138ae3f375a6151d53123 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_23-27-31_191021091/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1522.475152777141, + 1746.1820945454772, + 40.14724151065959 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1522.475152777141, + 1749.1820945454772, + 40.14724151065959 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1522.475152777141, + 1752.1820945454772, + 40.14724151065959 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1522.475152777141, + 1755.1820945454772, + 40.14724151065959 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1522.475152777141, + 1758.1820945454772, + 40.14724151065959 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1522.475152777141, + 1761.1820945454772, + 40.14724151065959 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1522.475152777141, + 1764.1820945454772, + 40.14724151065959 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1522.475152777141, + 1767.1820945454772, + 40.14724151065959 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1522.475152777141, + 1770.1820945454772, + 40.14724151065959 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1522.475152777141, + 1773.1820945454772, + 40.14724151065959 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1522.475152777141, + 1776.1820945454772, + 40.14724151065959 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1522.475152777141, + 1779.1820945454772, + 40.14724151065959 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1522.475152777141, + 1782.1820945454772, + 40.14724151065959 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1522.475152777141, + 1785.1820945454772, + 40.14724151065959 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1522.475152777141, + 1788.1820945454772, + 40.14724151065959 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1522.475152777141, + 1788.1820945454772, + 40.14724151065959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1523.975152777141, + 1790.7801707568306, + 40.14724151065959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1525.475152777141, + 1793.378246968184, + 40.14724151065959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1526.975152777141, + 1795.9763231795373, + 40.14724151065959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1528.475152777141, + 1798.5743993908907, + 40.14724151065959 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1540.0, + 1916.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-14-1_825791694/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-14-1_825791694/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fbc2c22d9d92cd1afb5c2a17f0080f0df6068460 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-14-1_825791694/pose.jsonl @@ -0,0 +1,93 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1787.417378323078, + 1383.4175468175947, + 69.29342465242925 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1790.0154545344315, + 1381.9175468175947, + 69.29342465242925 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1792.6135307457848, + 1380.4175468175947, + 69.29342465242925 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1795.2116069571382, + 1378.9175468175947, + 69.29342465242925 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1797.8096831684916, + 1377.4175468175947, + 69.29342465242925 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1800.407759379845, + 1375.9175468175947, + 69.29342465242925 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1940.0, + 1328.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-46-52_1460674641/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-46-52_1460674641/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..74582b1d3d6937690c62db829f6815e1a72fa2d7 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-46-52_1460674641/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 814.0762819289407, + 404.6990413993195, + 52.925323447179366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 811.4782057175873, + 403.1990413993195, + 52.925323447179366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 808.880129506234, + 401.6990413993195, + 52.925323447179366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 806.2820532948806, + 400.1990413993195, + 52.925323447179366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 803.6839770835272, + 398.6990413993195, + 52.925323447179366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 801.0859008721739, + 397.1990413993195, + 52.925323447179366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 798.4878246608205, + 395.6990413993195, + 52.925323447179366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 795.8897484494671, + 394.1990413993195, + 52.925323447179366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 793.2916722381137, + 392.6990413993195, + 52.925323447179366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 790.6935960267604, + 391.1990413993195, + 52.925323447179366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 788.095519815407, + 389.6990413993195, + 52.925323447179366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 785.4974436040536, + 388.1990413993195, + 52.925323447179366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 782.8993673927002, + 386.6990413993195, + 52.925323447179366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 780.3012911813469, + 385.1990413993195, + 52.925323447179366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 777.7032149699935, + 383.6990413993195, + 52.925323447179366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 775.1051387586401, + 382.1990413993195, + 52.925323447179366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 772.5070625472868, + 380.6990413993195, + 52.925323447179366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 769.9089863359334, + 379.1990413993195, + 52.925323447179366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 767.31091012458, + 377.6990413993195, + 52.925323447179366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 764.7128339132266, + 376.1990413993195, + 52.925323447179366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 762.1147577018733, + 374.6990413993195, + 52.925323447179366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 759.5166814905199, + 373.1990413993195, + 52.925323447179366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 756.9186052791665, + 371.6990413993195, + 52.925323447179366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 754.3205290678131, + 370.1990413993195, + 52.925323447179366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 751.7224528564598, + 368.6990413993195, + 52.925323447179366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 749.1243766451064, + 367.1990413993195, + 52.925323447179366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 746.526300433753, + 365.6990413993195, + 52.925323447179366 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 746.526300433753, + 365.6990413993195, + 52.925323447179366 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 743.526300433753, + 365.6990413993195, + 52.925323447179366 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 740.526300433753, + 365.6990413993195, + 52.925323447179366 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 737.526300433753, + 365.6990413993195, + 52.925323447179366 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 734.526300433753, + 365.6990413993195, + 52.925323447179366 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 731.526300433753, + 365.6990413993195, + 52.925323447179366 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 728.526300433753, + 365.6990413993195, + 52.925323447179366 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 725.526300433753, + 365.6990413993195, + 52.925323447179366 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 722.526300433753, + 365.6990413993195, + 52.925323447179366 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 719.526300433753, + 365.6990413993195, + 52.925323447179366 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 716.526300433753, + 365.6990413993195, + 52.925323447179366 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.0, + 348.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-51-18_405341089/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-51-18_405341089/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e8836aa60cfdc94566f61207deb49f4f3dff54f8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-51-18_405341089/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1363.841541576415, + -312.7894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1361.2434653650616, + -314.2894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1358.6453891537083, + -315.7894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1356.047312942355, + -317.2894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1353.4492367310015, + -318.7894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1350.8511605196481, + -320.2894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1348.2530843082948, + -321.7894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1345.6550080969414, + -323.2894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1343.056931885588, + -324.7894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1340.4588556742347, + -326.2894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1337.8607794628813, + -327.7894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1335.262703251528, + -329.2894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1332.6646270401745, + -330.7894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1330.0665508288212, + -332.2894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1327.4684746174678, + -333.7894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1324.8703984061144, + -335.2894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1322.272322194761, + -336.7894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1319.6742459834077, + -338.2894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1317.0761697720543, + -339.7894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1314.478093560701, + -341.2894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1311.8800173493476, + -342.7894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1309.2819411379942, + -344.2894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1306.6838649266408, + -345.7894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1304.0857887152874, + -347.2894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1301.487712503934, + -348.7894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1298.8896362925807, + -350.2894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1296.2915600812273, + -351.7894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1293.693483869874, + -353.2894224092049, + 58.701861259049586 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1293.693483869874, + -353.2894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1290.693483869874, + -353.2894224092049, + 58.701861259049586 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1290.693483869874, + -353.2894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1288.0954076585206, + -354.7894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1285.4973314471672, + -356.2894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1282.8992552358138, + -357.7894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1280.3011790244605, + -359.2894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1277.703102813107, + -360.7894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1275.1050266017537, + -362.2894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1272.5069503904003, + -363.7894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1269.908874179047, + -365.2894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1267.3107979676936, + -366.7894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1264.7127217563402, + -368.2894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1262.1146455449868, + -369.7894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1259.5165693336335, + -371.2894224092049, + 58.701861259049586 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1259.5165693336335, + -371.2894224092049, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1258.0165693336335, + -373.88749862055823, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1256.5165693336335, + -376.48557483191155, + 58.701861259049586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1255.0165693336335, + -379.08365104326487, + 58.701861259049586 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1228.0, + -400.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-56-19_878777377/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-56-19_878777377/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..903ced5159d40ad1e660a04a321fb1de63d100a7 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-56-19_878777377/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -701.1363530859866, + -1125.0866038543163, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -704.1363530859866, + -1125.0866038543163, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -707.1363530859866, + -1125.0866038543163, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -710.1363530859866, + -1125.0866038543163, + 63.2571360599764 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -710.1363530859866, + -1125.0866038543163, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -712.7344292973398, + -1126.5866038543163, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -715.3325055086932, + -1128.0866038543163, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -717.9305817200466, + -1129.5866038543163, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -720.5286579314, + -1131.0866038543163, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -723.1267341427533, + -1132.5866038543163, + 63.2571360599764 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -723.1267341427533, + -1132.5866038543163, + 63.2571360599764 + ], + "type": "turn right", + "value": 30, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -723.1267341427533, + -1132.5866038543163, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": -3.665191429188101 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -725.7248103541067, + -1131.0866038543163, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -728.3228865654601, + -1129.5866038543163, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -730.9209627768134, + -1128.0866038543163, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -733.5190389881668, + -1126.5866038543163, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -736.1171151995202, + -1125.0866038543163, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -738.7151914108736, + -1123.5866038543163, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -741.3132676222269, + -1122.0866038543163, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -743.9113438335803, + -1120.5866038543163, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -746.5094200449337, + -1119.0866038543163, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -749.107496256287, + -1117.5866038543163, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -751.7055724676404, + -1116.0866038543163, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -754.3036486789938, + -1114.5866038543163, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -756.9017248903472, + -1113.0866038543163, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -759.4998011017005, + -1111.5866038543163, + 63.2571360599764 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -759.4998011017005, + -1111.5866038543163, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -760.9998011017005, + -1108.988527642963, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -762.4998011017005, + -1106.3904514316096, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -763.9998011017005, + -1103.7923752202562, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -765.4998011017005, + -1101.1942990089028, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -766.9998011017005, + -1098.5962227975494, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -768.4998011017005, + -1095.998146586196, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -769.9998011017005, + -1093.4000703748427, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -771.4998011017005, + -1090.8019941634893, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -772.9998011017005, + -1088.203917952136, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -774.4998011017005, + -1085.6058417407826, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -775.9998011017005, + -1083.0077655294292, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -777.4998011017005, + -1080.4096893180758, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -778.9998011017005, + -1077.8116131067225, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -780.4998011017005, + -1075.213536895369, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -781.9998011017005, + -1072.6154606840157, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -783.4998011017005, + -1070.0173844726623, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -784.9998011017005, + -1067.419308261309, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -786.4998011017005, + -1064.8212320499556, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -787.9998011017005, + -1062.2231558386022, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -789.4998011017005, + -1059.6250796272489, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -790.9998011017005, + -1057.0270034158955, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -792.4998011017005, + -1054.428927204542, + 63.2571360599764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -793.9998011017005, + -1051.8308509931887, + 63.2571360599764 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -820.0, + -1032.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-9-37_233233021/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-9-37_233233021/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..24ae6799a616f44de2a396d0a43d312f008cc47d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-9-37_233233021/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1070.1833166420543, + 1791.0881850571313, + 54.47103788792601 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1071.6833166420543, + 1793.6862612684847, + 54.47103788792601 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1073.1833166420543, + 1796.284337479838, + 54.47103788792601 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1074.6833166420543, + 1798.8824136911915, + 54.47103788792601 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1132.0, + 1960.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_4-11-51_1184726095/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_4-11-51_1184726095/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eca92d35158c2246dcb7938a90d263d88a5d875f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_4-11-51_1184726095/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1655.6714007592448, + -1647.7384613128818, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1657.1714007592448, + -1645.1403851015284, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1658.6714007592448, + -1642.542308890175, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1660.1714007592448, + -1639.9442326788217, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1661.6714007592448, + -1637.3461564674683, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1663.1714007592448, + -1634.748080256115, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1664.6714007592448, + -1632.1500040447615, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1666.1714007592448, + -1629.5519278334082, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1667.6714007592448, + -1626.9538516220548, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1669.1714007592448, + -1624.3557754107014, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1670.6714007592448, + -1621.757699199348, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1672.1714007592448, + -1619.1596229879947, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1673.6714007592448, + -1616.5615467766413, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1675.1714007592448, + -1613.963470565288, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1676.6714007592448, + -1611.3653943539346, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1678.1714007592448, + -1608.7673181425812, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1679.6714007592448, + -1606.1692419312278, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1681.1714007592448, + -1603.5711657198744, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1682.6714007592448, + -1600.973089508521, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1684.1714007592448, + -1598.3750132971677, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1685.6714007592448, + -1595.7769370858143, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1687.1714007592448, + -1593.178860874461, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1688.6714007592448, + -1590.5807846631076, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1690.1714007592448, + -1587.9827084517542, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1691.6714007592448, + -1585.3846322404008, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1693.1714007592448, + -1582.7865560290475, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1694.6714007592448, + -1580.188479817694, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1696.1714007592448, + -1577.5904036063407, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1697.6714007592448, + -1574.9923273949873, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1699.1714007592448, + -1572.394251183634, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1700.6714007592448, + -1569.7961749722806, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1702.1714007592448, + -1567.1980987609272, + 54.88391133122608 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1702.1714007592448, + -1567.1980987609272, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1704.7694769705981, + -1565.6980987609272, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1707.3675531819515, + -1564.1980987609272, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1709.9656293933049, + -1562.6980987609272, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1712.5637056046583, + -1561.1980987609272, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1715.1617818160116, + -1559.6980987609272, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1717.759858027365, + -1558.1980987609272, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1720.3579342387184, + -1556.6980987609272, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1722.9560104500717, + -1555.1980987609272, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1725.5540866614251, + -1553.6980987609272, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1728.1521628727785, + -1552.1980987609272, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1730.7502390841319, + -1550.6980987609272, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1733.3483152954852, + -1549.1980987609272, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1735.9463915068386, + -1547.6980987609272, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1738.544467718192, + -1546.1980987609272, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1741.1425439295454, + -1544.6980987609272, + 54.88391133122608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1743.7406201408987, + -1543.1980987609272, + 54.88391133122608 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1756.0, + -1532.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_4-18-18_1084384795/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_4-18-18_1084384795/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3120f888f68b48e83fa770ed05da187b4a254b92 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_4-18-18_1084384795/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -734.5453460293941, + -917.6103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -737.1434222407474, + -919.1103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -739.7414984521008, + -920.6103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -742.3395746634542, + -922.1103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -744.9376508748076, + -923.6103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -747.5357270861609, + -925.1103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -750.1338032975143, + -926.6103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -752.7318795088677, + -928.1103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -755.329955720221, + -929.6103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -757.9280319315744, + -931.1103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -760.5261081429278, + -932.6103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -763.1241843542812, + -934.1103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -765.7222605656345, + -935.6103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -768.3203367769879, + -937.1103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -770.9184129883413, + -938.6103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -773.5164891996947, + -940.1103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -776.114565411048, + -941.6103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -778.7126416224014, + -943.1103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -781.3107178337548, + -944.6103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -783.9087940451082, + -946.1103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -786.5068702564615, + -947.6103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -789.1049464678149, + -949.1103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -791.7030226791683, + -950.6103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -794.3010988905216, + -952.1103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -796.899175101875, + -953.6103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -799.4972513132284, + -955.1103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -802.0953275245818, + -956.6103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -804.6934037359351, + -958.1103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -807.2914799472885, + -959.6103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -809.8895561586419, + -961.1103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -812.4876323699953, + -962.6103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -815.0857085813486, + -964.1103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -817.683784792702, + -965.6103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -820.2818610040554, + -967.1103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -822.8799372154087, + -968.6103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -825.4780134267621, + -970.1103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -828.0760896381155, + -971.6103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -830.6741658494689, + -973.1103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -833.2722420608222, + -974.6103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -835.8703182721756, + -976.1103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -838.468394483529, + -977.6103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -841.0664706948824, + -979.1103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -843.6645469062357, + -980.6103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -846.2626231175891, + -982.1103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -848.8606993289425, + -983.6103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -851.4587755402958, + -985.1103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -854.0568517516492, + -986.6103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -856.6549279630026, + -988.1103071173394, + 53.46975172647105 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -856.6549279630026, + -988.1103071173394, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -858.1549279630026, + -990.7083833286927, + 53.46975172647105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -859.6549279630026, + -993.306459540046, + 53.46975172647105 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393205 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -884.0, + -1008.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_4-19-39_1595154931/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_4-19-39_1595154931/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..66c865a1b9661f28495edd28b25e5a321dfe7be9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_4-19-39_1595154931/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1006.8097050217398, + 124.22770974568722, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1009.4077812330931, + 122.72770974568722, + 44.479439723552794 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1009.4077812330931, + 122.72770974568722, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1010.9077812330931, + 120.1296335343339, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1012.4077812330931, + 117.53155732298059, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1013.9077812330931, + 114.93348111162727, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1015.4077812330931, + 112.33540490027396, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1016.9077812330931, + 109.73732868892064, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1018.4077812330931, + 107.13925247756733, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1019.9077812330931, + 104.54117626621401, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1021.4077812330931, + 101.9431000548607, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1022.9077812330931, + 99.34502384350738, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1024.4077812330931, + 96.74694763215406, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1025.9077812330931, + 94.14887142080075, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1027.4077812330931, + 91.55079520944743, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1028.9077812330931, + 88.95271899809411, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1030.4077812330931, + 86.3546427867408, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1031.9077812330931, + 83.75656657538748, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1033.4077812330931, + 81.15849036403417, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1034.9077812330931, + 78.56041415268085, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1036.4077812330931, + 75.96233794132753, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1037.9077812330931, + 73.36426172997422, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1039.4077812330931, + 70.7661855186209, + 44.479439723552794 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1039.4077812330931, + 70.7661855186209, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1042.0058574444465, + 69.2661855186209, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1044.6039336558, + 67.7661855186209, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1047.2020098671533, + 66.2661855186209, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1049.8000860785066, + 64.7661855186209, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1052.39816228986, + 63.2661855186209, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1054.9962385012134, + 61.7661855186209, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1057.5943147125668, + 60.2661855186209, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1060.1923909239201, + 58.7661855186209, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1062.7904671352735, + 57.2661855186209, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1065.3885433466269, + 55.7661855186209, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1067.9866195579802, + 54.2661855186209, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1070.5846957693336, + 52.7661855186209, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1073.182771980687, + 51.2661855186209, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1075.7808481920404, + 49.7661855186209, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1078.3789244033937, + 48.2661855186209, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1080.977000614747, + 46.7661855186209, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1083.5750768261005, + 45.2661855186209, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1086.1731530374539, + 43.7661855186209, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1088.7712292488072, + 42.2661855186209, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1091.3693054601606, + 40.7661855186209, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1093.967381671514, + 39.2661855186209, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1096.5654578828673, + 37.7661855186209, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1099.1635340942207, + 36.2661855186209, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1101.761610305574, + 34.7661855186209, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1104.3596865169275, + 33.2661855186209, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1106.9577627282808, + 31.7661855186209, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1109.5558389396342, + 30.2661855186209, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1112.1539151509876, + 28.7661855186209, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1114.751991362341, + 27.2661855186209, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1117.3500675736943, + 25.7661855186209, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1119.9481437850477, + 24.2661855186209, + 44.479439723552794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1122.546219996401, + 22.7661855186209, + 44.479439723552794 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0, + 12.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_4-3-56_1249152986/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_4-3-56_1249152986/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e60402545c0e9b47bbf41934093aa14bb888e806 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_4-3-56_1249152986/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1550.2368571559477, + 656.874294123831, + 55.281950033549705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1547.2368571559477, + 656.874294123831, + 55.281950033549705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1544.2368571559477, + 656.874294123831, + 55.281950033549705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1541.2368571559477, + 656.874294123831, + 55.281950033549705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1538.2368571559477, + 656.874294123831, + 55.281950033549705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1535.2368571559477, + 656.874294123831, + 55.281950033549705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1532.2368571559477, + 656.874294123831, + 55.281950033549705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1529.2368571559477, + 656.874294123831, + 55.281950033549705 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1529.2368571559477, + 656.874294123831, + 55.281950033549705 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1529.2368571559477, + 656.874294123831, + 55.281950033549705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1527.7368571559477, + 659.4723703351842, + 55.281950033549705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1526.2368571559477, + 662.0704465465376, + 55.281950033549705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1524.7368571559477, + 664.668522757891, + 55.281950033549705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1523.2368571559477, + 667.2665989692443, + 55.281950033549705 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1396.0, + 716.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_5-55-58_1102713256/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_5-55-58_1102713256/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d83740478266b6b745cc2be6a952a1859d8a78f1 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_5-55-58_1102713256/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 144.06735805298112, + 476.7609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 141.4692818416278, + 478.2609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 138.8712056302745, + 479.7609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 136.27312941892117, + 481.2609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 133.67505320756786, + 482.7609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 131.07697699621454, + 484.2609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 128.47890078486122, + 485.7609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 125.88082457350791, + 487.2609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 123.28274836215459, + 488.7609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 120.68467215080128, + 490.2609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 118.08659593944796, + 491.7609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 115.48851972809464, + 493.2609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 112.89044351674133, + 494.7609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 110.29236730538801, + 496.2609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 107.6942910940347, + 497.7609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 105.09621488268138, + 499.2609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 102.49813867132806, + 500.7609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 99.90006245997475, + 502.2609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 97.30198624862143, + 503.7609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 94.70391003726812, + 505.2609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 92.1058338259148, + 506.7609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 89.50775761456148, + 508.2609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 86.90968140320817, + 509.7609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 84.31160519185485, + 511.2609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 81.71352898050154, + 512.7609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 79.11545276914822, + 514.2609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 76.5173765577949, + 515.7609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 73.91930034644159, + 517.2609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 71.32122413508827, + 518.7609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 68.72314792373496, + 520.2609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 66.12507171238164, + 521.7609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 63.526995501028324, + 523.2609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 60.92891928967501, + 524.7609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 58.33084307832169, + 526.2609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 55.732766866968376, + 527.7609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 53.13469065561506, + 529.2609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 50.536614444261744, + 530.7609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 47.93853823290843, + 532.2609041870711, + 43.00357314594631 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 47.93853823290843, + 532.2609041870711, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 46.43853823290843, + 534.8589803984244, + 43.00357314594631 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 44.93853823290843, + 537.4570566097777, + 43.00357314594631 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393205 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4.0, + 564.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-30-18_1201162069/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-30-18_1201162069/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d3c390838db90e57c2f8dc1dc1accfee4b030bbf --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-30-18_1201162069/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -268.0513070081556, + 446.34384130439196, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -266.5513070081556, + 443.74576509303864, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -265.0513070081556, + 441.1476888816853, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -263.5513070081556, + 438.549612670332, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -262.0513070081556, + 435.9515364589787, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -260.5513070081556, + 433.3534602476254, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -259.0513070081556, + 430.75538403627206, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -257.5513070081556, + 428.15730782491875, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -256.0513070081556, + 425.55923161356543, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -254.55130700815562, + 422.9611554022121, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -253.05130700815562, + 420.3630791908588, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -251.55130700815562, + 417.7650029795055, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -250.05130700815562, + 415.16692676815217, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -248.55130700815562, + 412.56885055679885, + 61.0538476123255 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -248.55130700815562, + 412.56885055679885, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -248.55130700815562, + 409.56885055679885, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -248.55130700815562, + 406.56885055679885, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -248.55130700815562, + 403.56885055679885, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -248.55130700815562, + 400.56885055679885, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -248.55130700815562, + 397.56885055679885, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -248.55130700815562, + 394.56885055679885, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -248.55130700815562, + 391.56885055679885, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -248.55130700815562, + 388.56885055679885, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -248.55130700815562, + 385.56885055679885, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -248.55130700815562, + 382.56885055679885, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -248.55130700815562, + 379.56885055679885, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -248.55130700815562, + 376.56885055679885, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -248.55130700815562, + 373.56885055679885, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -248.55130700815562, + 370.56885055679885, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -248.55130700815562, + 367.56885055679885, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -248.55130700815562, + 364.56885055679885, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -248.55130700815562, + 361.56885055679885, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -248.55130700815562, + 358.56885055679885, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -248.55130700815562, + 355.56885055679885, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -248.55130700815562, + 352.56885055679885, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -248.55130700815562, + 349.56885055679885, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -248.55130700815562, + 346.56885055679885, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -248.55130700815562, + 343.56885055679885, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -248.55130700815562, + 340.56885055679885, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -248.55130700815562, + 337.56885055679885, + 61.0538476123255 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -248.55130700815562, + 337.56885055679885, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -247.05130700815562, + 334.97077434544553, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -245.55130700815562, + 332.3726981340922, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -244.05130700815562, + 329.7746219227389, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -242.55130700815562, + 327.1765457113856, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -241.05130700815562, + 324.57846950003227, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -239.55130700815562, + 321.98039328867895, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -238.05130700815562, + 319.38231707732564, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -236.55130700815562, + 316.7842408659723, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -235.05130700815562, + 314.186164654619, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -233.55130700815562, + 311.5880884432657, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -232.05130700815562, + 308.9900122319124, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -230.55130700815562, + 306.39193602055906, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -229.05130700815562, + 303.79385980920574, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -227.55130700815562, + 301.1957835978524, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -226.05130700815562, + 298.5977073864991, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -224.55130700815562, + 295.9996311751458, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -223.05130700815562, + 293.4015549637925, + 61.0538476123255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -221.55130700815562, + 290.80347875243916, + 61.0538476123255 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -216.0, + 276.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-49-3_1924200848/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-49-3_1924200848/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..314550b2bc9a7fea9b45cb2b025d4e24ca1d422e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-49-3_1924200848/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -734.0770000262327, + 1501.3581192854529, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -735.5770000262327, + 1503.9561954968062, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -737.0770000262327, + 1506.5542717081596, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -738.5770000262327, + 1509.152347919513, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -740.0770000262327, + 1511.7504241308663, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -741.5770000262327, + 1514.3485003422197, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -743.0770000262327, + 1516.946576553573, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -744.5770000262327, + 1519.5446527649265, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -746.0770000262327, + 1522.1427289762798, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -747.5770000262327, + 1524.7408051876332, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -749.0770000262327, + 1527.3388813989866, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -750.5770000262327, + 1529.93695761034, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -752.0770000262327, + 1532.5350338216933, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -753.5770000262327, + 1535.1331100330467, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -755.0770000262327, + 1537.7311862444, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -756.5770000262327, + 1540.3292624557535, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -758.0770000262327, + 1542.9273386671068, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -759.5770000262327, + 1545.5254148784602, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -761.0770000262327, + 1548.1234910898136, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -762.5770000262327, + 1550.721567301167, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -764.0770000262327, + 1553.3196435125203, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -765.5770000262327, + 1555.9177197238737, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -767.0770000262327, + 1558.515795935227, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -768.5770000262327, + 1561.1138721465804, + 47.90599276507224 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -768.5770000262327, + 1561.1138721465804, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -771.1750762375859, + 1562.6138721465804, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -773.7731524489393, + 1564.1138721465804, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -776.3712286602927, + 1565.6138721465804, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -778.969304871646, + 1567.1138721465804, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -781.5673810829994, + 1568.6138721465804, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -784.1654572943528, + 1570.1138721465804, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -786.7635335057062, + 1571.6138721465804, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -789.3616097170595, + 1573.1138721465804, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -791.9596859284129, + 1574.6138721465804, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -794.5577621397663, + 1576.1138721465804, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -797.1558383511197, + 1577.6138721465804, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -799.753914562473, + 1579.1138721465804, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -802.3519907738264, + 1580.6138721465804, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -804.9500669851798, + 1582.1138721465804, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -807.5481431965331, + 1583.6138721465804, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -810.1462194078865, + 1585.1138721465804, + 47.90599276507224 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -810.1462194078865, + 1585.1138721465804, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -811.6462194078865, + 1587.7119483579338, + 47.90599276507224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -813.1462194078865, + 1590.3100245692872, + 47.90599276507224 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -836.0, + 1616.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-57-0_1016499950/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-57-0_1016499950/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..65b6148eb53e624c5ee87dfa229351be2dbafdc6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-57-0_1016499950/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1143.912632604419, + -1567.5507309017719, + 63.140607118922304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1142.412632604419, + -1564.9526546904185, + 63.140607118922304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1140.912632604419, + -1562.3545784790651, + 63.140607118922304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1139.412632604419, + -1559.7565022677118, + 63.140607118922304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1137.912632604419, + -1557.1584260563584, + 63.140607118922304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1136.412632604419, + -1554.560349845005, + 63.140607118922304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1134.912632604419, + -1551.9622736336516, + 63.140607118922304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1133.412632604419, + -1549.3641974222983, + 63.140607118922304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1131.912632604419, + -1546.766121210945, + 63.140607118922304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1130.412632604419, + -1544.1680449995915, + 63.140607118922304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1128.912632604419, + -1541.5699687882382, + 63.140607118922304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1127.412632604419, + -1538.9718925768848, + 63.140607118922304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1125.912632604419, + -1536.3738163655314, + 63.140607118922304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1124.412632604419, + -1533.775740154178, + 63.140607118922304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1122.912632604419, + -1531.1776639428247, + 63.140607118922304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1121.412632604419, + -1528.5795877314713, + 63.140607118922304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1119.912632604419, + -1525.981511520118, + 63.140607118922304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1118.412632604419, + -1523.3834353087645, + 63.140607118922304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1116.912632604419, + -1520.7853590974112, + 63.140607118922304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1115.412632604419, + -1518.1872828860578, + 63.140607118922304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1113.912632604419, + -1515.5892066747044, + 63.140607118922304 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1113.912632604419, + -1515.5892066747044, + 63.140607118922304 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1113.912632604419, + -1512.5892066747044, + 63.140607118922304 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1113.912632604419, + -1509.5892066747044, + 63.140607118922304 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1113.912632604419, + -1506.5892066747044, + 63.140607118922304 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1113.912632604419, + -1503.5892066747044, + 63.140607118922304 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1113.912632604419, + -1500.5892066747044, + 63.140607118922304 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1113.912632604419, + -1497.5892066747044, + 63.140607118922304 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1113.912632604419, + -1494.5892066747044, + 63.140607118922304 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1113.912632604419, + -1491.5892066747044, + 63.140607118922304 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1113.912632604419, + -1488.5892066747044, + 63.140607118922304 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1113.912632604419, + -1485.5892066747044, + 63.140607118922304 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1113.912632604419, + -1482.5892066747044, + 63.140607118922304 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1113.912632604419, + -1479.5892066747044, + 63.140607118922304 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1113.912632604419, + -1476.5892066747044, + 63.140607118922304 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1096.0, + -1408.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-7-6_1032684367/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-7-6_1032684367/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a9aa9aadab20bb9a4ec0e62f5f37be4f0b565093 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-7-6_1032684367/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -283.96664988462067, + 54.08509936619254, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -281.36857367326735, + 52.58509936619254, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -278.77049746191403, + 51.08509936619254, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -276.1724212505607, + 49.58509936619254, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -273.5743450392074, + 48.08509936619254, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -270.9762688278541, + 46.58509936619254, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -268.37819261650077, + 45.08509936619254, + 57.17079571340428 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -268.37819261650077, + 45.08509936619254, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -266.87819261650077, + 42.48702315483922, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -265.37819261650077, + 39.888946943485905, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -263.87819261650077, + 37.29087073213259, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -262.37819261650077, + 34.69279452077927, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -260.87819261650077, + 32.09471830942596, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -259.37819261650077, + 29.49664209807264, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -257.87819261650077, + 26.898565886719325, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -256.37819261650077, + 24.30048967536601, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -254.87819261650077, + 21.702413464012693, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -253.37819261650077, + 19.104337252659377, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -251.87819261650077, + 16.50626104130606, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -250.37819261650077, + 13.908184829952745, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -248.87819261650077, + 11.310108618599429, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -247.37819261650077, + 8.712032407246113, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -245.87819261650077, + 6.113956195892797, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -244.37819261650077, + 3.515879984539481, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -242.87819261650077, + 0.917803773186165, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -241.37819261650077, + -1.680272438167151, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -239.87819261650077, + -4.278348649520467, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -238.37819261650077, + -6.876424860873783, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -236.87819261650077, + -9.474501072227099, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -235.37819261650077, + -12.072577283580415, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -233.87819261650077, + -14.670653494933731, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -232.37819261650077, + -17.268729706287047, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -230.87819261650077, + -19.866805917640363, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -229.37819261650077, + -22.46488212899368, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -227.87819261650077, + -25.062958340346995, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -226.37819261650077, + -27.66103455170031, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -224.87819261650077, + -30.259110763053627, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -223.37819261650077, + -32.85718697440694, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -221.87819261650077, + -35.45526318576026, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -220.37819261650077, + -38.053339397113575, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -218.87819261650077, + -40.65141560846689, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -217.37819261650077, + -43.24949181982021, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -215.87819261650077, + -45.84756803117352, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -214.37819261650077, + -48.44564424252684, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -212.87819261650077, + -51.043720453880155, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -211.37819261650077, + -53.64179666523347, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -209.87819261650077, + -56.23987287658679, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -208.37819261650077, + -58.8379490879401, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -206.87819261650077, + -61.43602529929342, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -205.37819261650077, + -64.03410151064674, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -203.87819261650077, + -66.63217772200005, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -202.37819261650077, + -69.23025393335337, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -200.87819261650077, + -71.82833014470668, + 57.17079571340428 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -199.37819261650077, + -74.42640635606, + 57.17079571340428 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -192.0, + -88.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-0-9_365547042/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-0-9_365547042/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9c68b4ce5492611d4aa0a5e0165c95c9a874e90d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-0-9_365547042/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 773.1675024677478, + -1686.9621369197307, + 54.52994557134983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 773.1675024677478, + -1683.9621369197307, + 54.52994557134983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 773.1675024677478, + -1680.9621369197307, + 54.52994557134983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 773.1675024677478, + -1677.9621369197307, + 54.52994557134983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 773.1675024677478, + -1674.9621369197307, + 54.52994557134983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 773.1675024677478, + -1671.9621369197307, + 54.52994557134983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 773.1675024677478, + -1668.9621369197307, + 54.52994557134983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 773.1675024677478, + -1665.9621369197307, + 54.52994557134983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 773.1675024677478, + -1662.9621369197307, + 54.52994557134983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 773.1675024677478, + -1659.9621369197307, + 54.52994557134983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 773.1675024677478, + -1656.9621369197307, + 54.52994557134983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 773.1675024677478, + -1653.9621369197307, + 54.52994557134983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 773.1675024677478, + -1650.9621369197307, + 54.52994557134983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 773.1675024677478, + -1647.9621369197307, + 54.52994557134983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 773.1675024677478, + -1644.9621369197307, + 54.52994557134983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 773.1675024677478, + -1641.9621369197307, + 54.52994557134983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 773.1675024677478, + -1638.9621369197307, + 54.52994557134983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 773.1675024677478, + -1635.9621369197307, + 54.52994557134983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 773.1675024677478, + -1632.9621369197307, + 54.52994557134983 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 773.1675024677478, + -1632.9621369197307, + 54.52994557134983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 774.6675024677478, + -1630.3640607083773, + 54.52994557134983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 776.1675024677478, + -1627.765984497024, + 54.52994557134983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 777.6675024677478, + -1625.1679082856706, + 54.52994557134983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 779.1675024677478, + -1622.5698320743172, + 54.52994557134983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 780.6675024677478, + -1619.9717558629638, + 54.52994557134983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 782.1675024677478, + -1617.3736796516105, + 54.52994557134983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 783.6675024677478, + -1614.775603440257, + 54.52994557134983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 785.1675024677478, + -1612.1775272289037, + 54.52994557134983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 786.6675024677478, + -1609.5794510175504, + 54.52994557134983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 788.1675024677478, + -1606.981374806197, + 54.52994557134983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 789.6675024677478, + -1604.3832985948436, + 54.52994557134983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 791.1675024677478, + -1601.7852223834902, + 54.52994557134983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 792.6675024677478, + -1599.1871461721369, + 54.52994557134983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 794.1675024677478, + -1596.5890699607835, + 54.52994557134983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 795.6675024677478, + -1593.9909937494301, + 54.52994557134983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 797.1675024677478, + -1591.3929175380767, + 54.52994557134983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 798.6675024677478, + -1588.7948413267234, + 54.52994557134983 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 798.6675024677478, + -1588.7948413267234, + 54.52994557134983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 798.6675024677478, + -1585.7948413267234, + 54.52994557134983 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267949059 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 816.0, + -1520.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-13-51_1945972417/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-13-51_1945972417/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3f59dfb88cc9a18d9860e64b869486a0d530f120 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-13-51_1945972417/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 390.6051246202352, + 329.22356350491515, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 393.6051246202352, + 329.22356350491515, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 396.6051246202352, + 329.22356350491515, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 399.6051246202352, + 329.22356350491515, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 402.6051246202352, + 329.22356350491515, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 405.6051246202352, + 329.22356350491515, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 408.6051246202352, + 329.22356350491515, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 411.6051246202352, + 329.22356350491515, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 414.6051246202352, + 329.22356350491515, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 417.6051246202352, + 329.22356350491515, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 420.6051246202352, + 329.22356350491515, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 423.6051246202352, + 329.22356350491515, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 426.6051246202352, + 329.22356350491515, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 429.6051246202352, + 329.22356350491515, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 432.6051246202352, + 329.22356350491515, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 435.6051246202352, + 329.22356350491515, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 438.6051246202352, + 329.22356350491515, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 441.6051246202352, + 329.22356350491515, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 444.6051246202352, + 329.22356350491515, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 447.6051246202352, + 329.22356350491515, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 450.6051246202352, + 329.22356350491515, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 453.6051246202352, + 329.22356350491515, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 456.6051246202352, + 329.22356350491515, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 459.6051246202352, + 329.22356350491515, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 462.6051246202352, + 329.22356350491515, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 465.6051246202352, + 329.22356350491515, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 468.6051246202352, + 329.22356350491515, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 471.6051246202352, + 329.22356350491515, + 52.79870391621459 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 471.6051246202352, + 329.22356350491515, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 474.2032008315885, + 327.72356350491515, + 52.79870391621459 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 474.2032008315885, + 327.72356350491515, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 475.7032008315885, + 325.12548729356183, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 477.2032008315885, + 322.5274110822085, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 478.7032008315885, + 319.9293348708552, + 52.79870391621459 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 478.7032008315885, + 319.9293348708552, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 481.3012770429418, + 318.4293348708552, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 483.89935325429514, + 316.9293348708552, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 486.49742946564845, + 315.4293348708552, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 489.09550567700177, + 313.9293348708552, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 491.6935818883551, + 312.4293348708552, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 494.2916580997084, + 310.9293348708552, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 496.8897343110617, + 309.4293348708552, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 499.48781052241503, + 307.9293348708552, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 502.08588673376835, + 306.4293348708552, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 504.68396294512166, + 304.9293348708552, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 507.282039156475, + 303.4293348708552, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 509.8801153678283, + 301.9293348708552, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 512.4781915791816, + 300.4293348708552, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 515.076267790535, + 298.9293348708552, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 517.6743440018884, + 297.4293348708552, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 520.2724202132417, + 295.9293348708552, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 522.8704964245951, + 294.4293348708552, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 525.4685726359485, + 292.9293348708552, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 528.0666488473018, + 291.4293348708552, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 530.6647250586552, + 289.9293348708552, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 533.2628012700086, + 288.4293348708552, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 535.860877481362, + 286.9293348708552, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 538.4589536927153, + 285.4293348708552, + 52.79870391621459 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 541.0570299040687, + 283.9293348708552, + 52.79870391621459 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 560.0, + 280.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-18-25_822514995/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-18-25_822514995/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ecb3e59f2973e3a723830985a5972d3fa37b63e5 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-18-25_822514995/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1545.9950241656315, + 681.1280295948345, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1547.4950241656315, + 683.7261058061879, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1548.9950241656315, + 686.3241820175413, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1550.4950241656315, + 688.9222582288946, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1551.9950241656315, + 691.520334440248, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1553.4950241656315, + 694.1184106516014, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1554.9950241656315, + 696.7164868629548, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1556.4950241656315, + 699.3145630743081, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1557.9950241656315, + 701.9126392856615, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1559.4950241656315, + 704.5107154970149, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1560.9950241656315, + 707.1087917083682, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1562.4950241656315, + 709.7068679197216, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1563.9950241656315, + 712.304944131075, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1565.4950241656315, + 714.9030203424284, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1566.9950241656315, + 717.5010965537817, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1568.4950241656315, + 720.0991727651351, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1569.9950241656315, + 722.6972489764885, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1571.4950241656315, + 725.2953251878419, + 68.56478001886678 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1571.4950241656315, + 725.2953251878419, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1574.093100376985, + 726.7953251878419, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1576.6911765883383, + 728.2953251878419, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1579.2892527996917, + 729.7953251878419, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1581.887329011045, + 731.2953251878419, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1584.4854052223984, + 732.7953251878419, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1587.0834814337518, + 734.2953251878419, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1589.6815576451052, + 735.7953251878419, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1592.2796338564585, + 737.2953251878419, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1594.877710067812, + 738.7953251878419, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1597.4757862791653, + 740.2953251878419, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1600.0738624905186, + 741.7953251878419, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1602.671938701872, + 743.2953251878419, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1605.2700149132254, + 744.7953251878419, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1607.8680911245788, + 746.2953251878419, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1610.4661673359321, + 747.7953251878419, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1613.0642435472855, + 749.2953251878419, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1615.662319758639, + 750.7953251878419, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1618.2603959699923, + 752.2953251878419, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1620.8584721813456, + 753.7953251878419, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1623.456548392699, + 755.2953251878419, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1626.0546246040524, + 756.7953251878419, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1628.6527008154058, + 758.2953251878419, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1631.2507770267591, + 759.7953251878419, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1633.8488532381125, + 761.2953251878419, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1636.4469294494659, + 762.7953251878419, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1639.0450056608192, + 764.2953251878419, + 68.56478001886678 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1641.6430818721726, + 765.7953251878419, + 68.56478001886678 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1664.0, + 784.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-24-12_610645107/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-24-12_610645107/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9644ae1246d99b84f6deec10d9358e6671f200c1 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-24-12_610645107/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1146.0315145925229, + 251.3068763113649, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1144.5315145925229, + 253.90495252271822, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1143.0315145925229, + 256.50302873407156, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393191 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1141.5315145925229, + 259.1011049454249, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1140.0315145925229, + 261.6991811567782, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1138.5315145925229, + 264.2972573681315, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1137.0315145925229, + 266.8953335794848, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1135.5315145925229, + 269.49340979083814, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1134.0315145925229, + 272.09148600219146, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1132.5315145925229, + 274.6895622135448, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1131.0315145925229, + 277.2876384248981, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1129.5315145925229, + 279.8857146362514, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1128.0315145925229, + 282.4837908476047, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1126.5315145925229, + 285.08186705895804, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1125.0315145925229, + 287.67994327031136, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1123.5315145925229, + 290.27801948166467, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1122.0315145925229, + 292.876095693018, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1120.5315145925229, + 295.4741719043713, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1119.0315145925229, + 298.0722481157246, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1117.5315145925229, + 300.67032432707794, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1116.0315145925229, + 303.26840053843125, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1114.5315145925229, + 305.86647674978457, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1113.0315145925229, + 308.4645529611379, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1111.5315145925229, + 311.0626291724912, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1110.0315145925229, + 313.6607053838445, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1108.5315145925229, + 316.25878159519783, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1107.0315145925229, + 318.85685780655115, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1105.5315145925229, + 321.45493401790446, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1104.0315145925229, + 324.0530102292578, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1102.5315145925229, + 326.6510864406111, + 57.902310831271265 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1102.5315145925229, + 326.6510864406111, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1102.5315145925229, + 329.6510864406111, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1102.5315145925229, + 332.6510864406111, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1102.5315145925229, + 335.6510864406111, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1102.5315145925229, + 338.6510864406111, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1102.5315145925229, + 341.6510864406111, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1102.5315145925229, + 344.6510864406111, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1102.5315145925229, + 347.6510864406111, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1102.5315145925229, + 350.6510864406111, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1102.5315145925229, + 353.6510864406111, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1102.5315145925229, + 356.6510864406111, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1102.5315145925229, + 359.6510864406111, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1102.5315145925229, + 362.6510864406111, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1102.5315145925229, + 365.6510864406111, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1102.5315145925229, + 368.6510864406111, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1102.5315145925229, + 371.6510864406111, + 57.902310831271265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1102.5315145925229, + 374.6510864406111, + 57.902310831271265 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1096.0, + 396.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-28-22_1598171894/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-28-22_1598171894/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0b3241dca38a84ae7de428ccab567b55569d708b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-28-22_1598171894/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1299.7820164533464, + -732.4665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1296.7820164533464, + -732.4665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1293.7820164533464, + -732.4665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1290.7820164533464, + -732.4665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1287.7820164533464, + -732.4665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1284.7820164533464, + -732.4665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1281.7820164533464, + -732.4665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1278.7820164533464, + -732.4665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1275.7820164533464, + -732.4665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1272.7820164533464, + -732.4665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1269.7820164533464, + -732.4665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1266.7820164533464, + -732.4665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1263.7820164533464, + -732.4665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1260.7820164533464, + -732.4665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1257.7820164533464, + -732.4665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1254.7820164533464, + -732.4665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1251.7820164533464, + -732.4665129606708, + 42.75451645023939 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1251.7820164533464, + -732.4665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1249.183940241993, + -733.9665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1246.5858640306396, + -735.4665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1243.9877878192863, + -736.9665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1241.389711607933, + -738.4665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1238.7916353965795, + -739.9665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1236.1935591852261, + -741.4665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1233.5954829738728, + -742.9665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1230.9974067625194, + -744.4665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1228.399330551166, + -745.9665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1225.8012543398127, + -747.4665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1223.2031781284593, + -748.9665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1220.605101917106, + -750.4665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1218.0070257057525, + -751.9665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1215.4089494943992, + -753.4665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1212.8108732830458, + -754.9665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1210.2127970716924, + -756.4665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1207.614720860339, + -757.9665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1205.0166446489857, + -759.4665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1202.4185684376323, + -760.9665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1199.820492226279, + -762.4665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1197.2224160149256, + -763.9665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1194.6243398035722, + -765.4665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1192.0262635922188, + -766.9665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1189.4281873808654, + -768.4665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1186.830111169512, + -769.9665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1184.2320349581587, + -771.4665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1181.6339587468053, + -772.9665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1179.035882535452, + -774.4665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1176.4378063240986, + -775.9665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1173.8397301127452, + -777.4665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1171.2416539013918, + -778.9665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1168.6435776900385, + -780.4665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1166.045501478685, + -781.9665129606708, + 42.75451645023939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1163.4474252673317, + -783.4665129606708, + 42.75451645023939 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1148.0, + -792.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-37-2_190833023/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-37-2_190833023/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c470bd2170e6c8bee268d4203d098fecd1e04c23 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-37-2_190833023/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1742.2405535094192, + 1120.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1742.2405535094192, + 1117.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1742.2405535094192, + 1114.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1742.2405535094192, + 1111.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1742.2405535094192, + 1108.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1742.2405535094192, + 1105.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1742.2405535094192, + 1102.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1742.2405535094192, + 1099.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1742.2405535094192, + 1096.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1742.2405535094192, + 1093.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1742.2405535094192, + 1090.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1742.2405535094192, + 1087.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1742.2405535094192, + 1084.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1742.2405535094192, + 1081.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1742.2405535094192, + 1078.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1742.2405535094192, + 1075.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1742.2405535094192, + 1072.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1742.2405535094192, + 1069.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1742.2405535094192, + 1066.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1742.2405535094192, + 1063.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1742.2405535094192, + 1060.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1742.2405535094192, + 1057.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1742.2405535094192, + 1054.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1742.2405535094192, + 1051.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1742.2405535094192, + 1048.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1742.2405535094192, + 1045.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1742.2405535094192, + 1042.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1742.2405535094192, + 1039.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1742.2405535094192, + 1036.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1742.2405535094192, + 1033.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1742.2405535094192, + 1030.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1742.2405535094192, + 1027.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1742.2405535094192, + 1024.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1742.2405535094192, + 1021.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1742.2405535094192, + 1018.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1742.2405535094192, + 1015.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1742.2405535094192, + 1012.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1742.2405535094192, + 1009.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1742.2405535094192, + 1006.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1742.2405535094192, + 1003.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1742.2405535094192, + 1000.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1742.2405535094192, + 997.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1742.2405535094192, + 994.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1742.2405535094192, + 991.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1742.2405535094192, + 988.4829818572543, + 57.900895721370816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1742.2405535094192, + 985.4829818572543, + 57.900895721370816 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1744.0, + 968.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-40-43_1187797756/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-40-43_1187797756/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ae5cf8e83e5726c99e186b8d95ff69a1817a9fce --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-40-43_1187797756/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 969.7654883552439, + -1229.0479429730615, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 967.1674121438905, + -1227.5479429730615, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 964.5693359325371, + -1226.0479429730615, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 961.9712597211837, + -1224.5479429730615, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 959.3731835098304, + -1223.0479429730615, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 956.775107298477, + -1221.5479429730615, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 954.1770310871236, + -1220.0479429730615, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 951.5789548757703, + -1218.5479429730615, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 948.9808786644169, + -1217.0479429730615, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 946.3828024530635, + -1215.5479429730615, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 943.7847262417101, + -1214.0479429730615, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 941.1866500303568, + -1212.5479429730615, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 938.5885738190034, + -1211.0479429730615, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 935.99049760765, + -1209.5479429730615, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 933.3924213962966, + -1208.0479429730615, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 930.7943451849433, + -1206.5479429730615, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 928.1962689735899, + -1205.0479429730615, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 925.5981927622365, + -1203.5479429730615, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 923.0001165508831, + -1202.0479429730615, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 920.4020403395298, + -1200.5479429730615, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 917.8039641281764, + -1199.0479429730615, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 915.205887916823, + -1197.5479429730615, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 912.6078117054697, + -1196.0479429730615, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 910.0097354941163, + -1194.5479429730615, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 907.4116592827629, + -1193.0479429730615, + 40.64744606348866 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 907.4116592827629, + -1193.0479429730615, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 905.9116592827629, + -1190.449866761708, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 904.4116592827629, + -1187.8517905503547, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 902.9116592827629, + -1185.2537143390014, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 901.4116592827629, + -1182.655638127648, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 899.9116592827629, + -1180.0575619162946, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 898.4116592827629, + -1177.4594857049412, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 896.9116592827629, + -1174.8614094935879, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 895.4116592827629, + -1172.2633332822345, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 893.9116592827629, + -1169.6652570708811, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 892.4116592827629, + -1167.0671808595278, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 890.9116592827629, + -1164.4691046481744, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 889.4116592827629, + -1161.871028436821, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 887.9116592827629, + -1159.2729522254676, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 886.4116592827629, + -1156.6748760141143, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 884.9116592827629, + -1154.076799802761, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 883.4116592827629, + -1151.4787235914075, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 881.9116592827629, + -1148.8806473800541, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 880.4116592827629, + -1146.2825711687008, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 878.9116592827629, + -1143.6844949573474, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 877.4116592827629, + -1141.086418745994, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 875.9116592827629, + -1138.4883425346407, + 40.64744606348866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 874.4116592827629, + -1135.8902663232873, + 40.64744606348866 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 848.0, + -1112.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_8-0-37_434457257/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_8-0-37_434457257/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a542f351ba49e3c9b16a15d1b914b82156f8ed07 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_8-0-37_434457257/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1122.7709938437558, + -815.2866171847194, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1122.7709938437558, + -812.2866171847194, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1122.7709938437558, + -809.2866171847194, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1122.7709938437558, + -806.2866171847194, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1122.7709938437558, + -803.2866171847194, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1122.7709938437558, + -800.2866171847194, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1122.7709938437558, + -797.2866171847194, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1122.7709938437558, + -794.2866171847194, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1122.7709938437558, + -791.2866171847194, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1122.7709938437558, + -788.2866171847194, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1122.7709938437558, + -785.2866171847194, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1122.7709938437558, + -782.2866171847194, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1122.7709938437558, + -779.2866171847194, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1122.7709938437558, + -776.2866171847194, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1122.7709938437558, + -773.2866171847194, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1122.7709938437558, + -770.2866171847194, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1122.7709938437558, + -767.2866171847194, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1122.7709938437558, + -764.2866171847194, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1122.7709938437558, + -761.2866171847194, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1122.7709938437558, + -758.2866171847194, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1122.7709938437558, + -755.2866171847194, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1122.7709938437558, + -752.2866171847194, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1122.7709938437558, + -749.2866171847194, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1122.7709938437558, + -746.2866171847194, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1122.7709938437558, + -743.2866171847194, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1122.7709938437558, + -740.2866171847194, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1122.7709938437558, + -737.2866171847194, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1122.7709938437558, + -734.2866171847194, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1122.7709938437558, + -731.2866171847194, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1122.7709938437558, + -728.2866171847194, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1122.7709938437558, + -725.2866171847194, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1122.7709938437558, + -722.2866171847194, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1122.7709938437558, + -719.2866171847194, + 57.949133471974356 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1122.7709938437558, + -719.2866171847194, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1121.2709938437558, + -716.6885409733661, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1119.7709938437558, + -714.0904647620127, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1118.2709938437558, + -711.4923885506594, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1116.7709938437558, + -708.894312339306, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1115.2709938437558, + -706.2962361279526, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1113.7709938437558, + -703.6981599165993, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1112.2709938437558, + -701.1000837052459, + 57.949133471974356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1110.7709938437558, + -698.5020074938925, + 57.949133471974356 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1104.0, + -656.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_8-15-8_2131953877/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_8-15-8_2131953877/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c16c02a7cca17a35d727ff575a72c41a3f69cfee --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_8-15-8_2131953877/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1783.2790518502507, + 51.93446804339113, + 58.868464922812585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1785.877128061604, + 50.43446804339113, + 58.868464922812585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1788.4752042729574, + 48.93446804339113, + 58.868464922812585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1791.0732804843108, + 47.43446804339113, + 58.868464922812585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1793.6713566956641, + 45.93446804339113, + 58.868464922812585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1796.2694329070175, + 44.43446804339113, + 58.868464922812585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1798.867509118371, + 42.93446804339113, + 58.868464922812585 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1932.0, + -12.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_8-3-15_2094836299/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_8-3-15_2094836299/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..425fffd41eafbc547d2cbb2aac4997fb78af3c0a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_8-3-15_2094836299/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1228.3484270989547, + -1039.5441506440275, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1226.8484270989547, + -1036.946074432674, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1225.3484270989547, + -1034.3479982213207, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1223.8484270989547, + -1031.7499220099673, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1222.3484270989547, + -1029.151845798614, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1220.8484270989547, + -1026.5537695872606, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1219.3484270989547, + -1023.9556933759072, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1217.8484270989547, + -1021.3576171645539, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1216.3484270989547, + -1018.7595409532005, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1214.8484270989547, + -1016.1614647418471, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1213.3484270989547, + -1013.5633885304937, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1211.8484270989547, + -1010.9653123191404, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1210.3484270989547, + -1008.367236107787, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1208.8484270989547, + -1005.7691598964336, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1207.3484270989547, + -1003.1710836850802, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1205.8484270989547, + -1000.5730074737269, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1204.3484270989547, + -997.9749312623735, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1202.8484270989547, + -995.3768550510201, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1201.3484270989547, + -992.7787788396668, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1199.8484270989547, + -990.1807026283134, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1198.3484270989547, + -987.58262641696, + 47.42734111451864 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1198.3484270989547, + -987.58262641696, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1198.3484270989547, + -984.58262641696, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1198.3484270989547, + -981.58262641696, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1198.3484270989547, + -978.58262641696, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1198.3484270989547, + -975.58262641696, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1198.3484270989547, + -972.58262641696, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1198.3484270989547, + -969.58262641696, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1198.3484270989547, + -966.58262641696, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1198.3484270989547, + -963.58262641696, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1198.3484270989547, + -960.58262641696, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1198.3484270989547, + -957.58262641696, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1198.3484270989547, + -954.58262641696, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1198.3484270989547, + -951.58262641696, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1198.3484270989547, + -948.58262641696, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1198.3484270989547, + -945.58262641696, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1198.3484270989547, + -942.58262641696, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1198.3484270989547, + -939.58262641696, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1198.3484270989547, + -936.58262641696, + 47.42734111451864 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1198.3484270989547, + -936.58262641696, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1196.8484270989547, + -933.9845502056066, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1195.3484270989547, + -931.3864739942533, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1193.8484270989547, + -928.7883977828999, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1192.3484270989547, + -926.1903215715465, + 47.42734111451864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1190.8484270989547, + -923.5922453601931, + 47.42734111451864 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1180.0, + -896.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_8-55-49_1277970780/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_8-55-49_1277970780/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e901f83becf6642798b0ce57c13408892df5dc70 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_8-55-49_1277970780/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1686.683120334424, + 447.01725109858637, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1688.183120334424, + 449.6153273099397, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1689.683120334424, + 452.213403521293, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1691.183120334424, + 454.8114797326463, + 42.011816292889606 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1691.183120334424, + 454.8114797326463, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1693.7811965457774, + 456.3114797326463, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1696.3792727571308, + 457.8114797326463, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1698.9773489684842, + 459.3114797326463, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1701.5754251798376, + 460.8114797326463, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1704.173501391191, + 462.3114797326463, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1706.7715776025443, + 463.8114797326463, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1709.3696538138977, + 465.3114797326463, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1711.967730025251, + 466.8114797326463, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1714.5658062366044, + 468.3114797326463, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1717.1638824479578, + 469.8114797326463, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1719.7619586593112, + 471.3114797326463, + 42.011816292889606 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1719.7619586593112, + 471.3114797326463, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1721.2619586593112, + 473.90955594399964, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1722.7619586593112, + 476.50763215535295, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1724.2619586593112, + 479.10570836670627, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1725.7619586593112, + 481.7037845780596, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1727.2619586593112, + 484.3018607894129, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1728.7619586593112, + 486.8999370007662, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1730.2619586593112, + 489.49801321211953, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1731.7619586593112, + 492.09608942347285, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1733.2619586593112, + 494.69416563482616, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1734.7619586593112, + 497.2922418461795, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1736.2619586593112, + 499.8903180575328, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1737.7619586593112, + 502.4883942688861, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1739.2619586593112, + 505.0864704802394, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1740.7619586593112, + 507.68454669159274, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1742.2619586593112, + 510.28262290294606, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1743.7619586593112, + 512.8806991142994, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1745.2619586593112, + 515.4787753256528, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1746.7619586593112, + 518.0768515370062, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1748.2619586593112, + 520.6749277483596, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1749.7619586593112, + 523.2730039597129, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1751.2619586593112, + 525.8710801710663, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1752.7619586593112, + 528.4691563824197, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1754.2619586593112, + 531.067232593773, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1755.7619586593112, + 533.6653088051264, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1757.2619586593112, + 536.2633850164798, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1758.7619586593112, + 538.8614612278332, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1760.2619586593112, + 541.4595374391865, + 42.011816292889606 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1760.2619586593112, + 541.4595374391865, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1760.2619586593112, + 544.4595374391865, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1760.2619586593112, + 547.4595374391865, + 42.011816292889606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1760.2619586593112, + 550.4595374391865, + 42.011816292889606 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1776.0, + 572.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_9-13-4_1948432483/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_9-13-4_1948432483/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a51ca0dc73c96c17e4222a658824bd84e3cb6b69 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_9-13-4_1948432483/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1259.5861015274695, + 627.054509204658, + 64.15340131923514 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1262.5861015274695, + 627.054509204658, + 64.15340131923514 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1265.5861015274695, + 627.054509204658, + 64.15340131923514 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1268.5861015274695, + 627.054509204658, + 64.15340131923514 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1271.5861015274695, + 627.054509204658, + 64.15340131923514 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1274.5861015274695, + 627.054509204658, + 64.15340131923514 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1277.5861015274695, + 627.054509204658, + 64.15340131923514 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1280.5861015274695, + 627.054509204658, + 64.15340131923514 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1283.5861015274695, + 627.054509204658, + 64.15340131923514 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1286.5861015274695, + 627.054509204658, + 64.15340131923514 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1289.5861015274695, + 627.054509204658, + 64.15340131923514 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1292.5861015274695, + 627.054509204658, + 64.15340131923514 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1295.5861015274695, + 627.054509204658, + 64.15340131923514 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1298.5861015274695, + 627.054509204658, + 64.15340131923514 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1301.5861015274695, + 627.054509204658, + 64.15340131923514 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1304.5861015274695, + 627.054509204658, + 64.15340131923514 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1307.5861015274695, + 627.054509204658, + 64.15340131923514 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1310.5861015274695, + 627.054509204658, + 64.15340131923514 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1313.5861015274695, + 627.054509204658, + 64.15340131923514 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1316.5861015274695, + 627.054509204658, + 64.15340131923514 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1319.5861015274695, + 627.054509204658, + 64.15340131923514 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1322.5861015274695, + 627.054509204658, + 64.15340131923514 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1325.5861015274695, + 627.054509204658, + 64.15340131923514 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1328.5861015274695, + 627.054509204658, + 64.15340131923514 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1331.5861015274695, + 627.054509204658, + 64.15340131923514 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1334.5861015274695, + 627.054509204658, + 64.15340131923514 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1337.5861015274695, + 627.054509204658, + 64.15340131923514 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1340.5861015274695, + 627.054509204658, + 64.15340131923514 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1343.5861015274695, + 627.054509204658, + 64.15340131923514 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1343.5861015274695, + 627.054509204658, + 64.15340131923514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1346.1841777388229, + 628.554509204658, + 64.15340131923514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1348.7822539501763, + 630.054509204658, + 64.15340131923514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1351.3803301615296, + 631.554509204658, + 64.15340131923514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1353.978406372883, + 633.054509204658, + 64.15340131923514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1356.5764825842364, + 634.554509204658, + 64.15340131923514 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1356.5764825842364, + 634.554509204658, + 64.15340131923514 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1359.5764825842364, + 634.554509204658, + 64.15340131923514 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1362.5764825842364, + 634.554509204658, + 64.15340131923514 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1365.5764825842364, + 634.554509204658, + 64.15340131923514 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1416.0, + 640.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_9-45-51_500257692/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_9-45-51_500257692/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..14519b1b57753e14fab1112a292a47100d39ed74 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_9-45-51_500257692/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1226.6664601077907, + 778.1522681741932, + 45.75403186379183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1229.264536319144, + 779.6522681741932, + 45.75403186379183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1231.8626125304975, + 781.1522681741932, + 45.75403186379183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1234.4606887418508, + 782.6522681741932, + 45.75403186379183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1237.0587649532042, + 784.1522681741932, + 45.75403186379183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1239.6568411645576, + 785.6522681741932, + 45.75403186379183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1242.254917375911, + 787.1522681741932, + 45.75403186379183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1244.8529935872643, + 788.6522681741932, + 45.75403186379183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1247.4510697986177, + 790.1522681741932, + 45.75403186379183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1250.049146009971, + 791.6522681741932, + 45.75403186379183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1252.6472222213245, + 793.1522681741932, + 45.75403186379183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1255.2452984326778, + 794.6522681741932, + 45.75403186379183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1257.8433746440312, + 796.1522681741932, + 45.75403186379183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1260.4414508553846, + 797.6522681741932, + 45.75403186379183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1263.039527066738, + 799.1522681741932, + 45.75403186379183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1265.6376032780913, + 800.6522681741932, + 45.75403186379183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1268.2356794894447, + 802.1522681741932, + 45.75403186379183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1270.833755700798, + 803.6522681741932, + 45.75403186379183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1273.4318319121514, + 805.1522681741932, + 45.75403186379183 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1273.4318319121514, + 805.1522681741932, + 45.75403186379183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1276.4318319121514, + 805.1522681741932, + 45.75403186379183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1279.4318319121514, + 805.1522681741932, + 45.75403186379183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1282.4318319121514, + 805.1522681741932, + 45.75403186379183 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1384.0, + 856.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_9-58-50_474960250/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_9-58-50_474960250/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..97028e74f1b8b4015170dbd16ddc2ab044bfc66a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_9-58-50_474960250/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 546.6217533003977, + -854.5042786593248, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 549.6217533003977, + -854.5042786593248, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 552.6217533003977, + -854.5042786593248, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 555.6217533003977, + -854.5042786593248, + 46.42898663686895 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 555.6217533003977, + -854.5042786593248, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 558.219829511751, + -856.0042786593248, + 46.42898663686895 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 558.219829511751, + -856.0042786593248, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 559.719829511751, + -858.602354870678, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 561.219829511751, + -861.2004310820314, + 46.42898663686895 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 561.219829511751, + -861.2004310820314, + 46.42898663686895 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 561.219829511751, + -861.2004310820314, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": -9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 564.219829511751, + -861.2004310820314, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 567.219829511751, + -861.2004310820314, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 570.219829511751, + -861.2004310820314, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 573.219829511751, + -861.2004310820314, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 576.219829511751, + -861.2004310820314, + 46.42898663686895 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 576.219829511751, + -861.2004310820314, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 578.8179057231043, + -859.7004310820314, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 581.4159819344577, + -858.2004310820314, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 584.0140581458111, + -856.7004310820314, + 46.42898663686895 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 584.0140581458111, + -856.7004310820314, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 587.0140581458111, + -856.7004310820314, + 46.42898663686895 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 587.0140581458111, + -856.7004310820314, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 589.6121343571645, + -855.2004310820314, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 592.2102105685178, + -853.7004310820314, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 594.8082867798712, + -852.2004310820314, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 597.4063629912246, + -850.7004310820314, + 46.42898663686895 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 597.4063629912246, + -850.7004310820314, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 600.4063629912246, + -850.7004310820314, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 603.4063629912246, + -850.7004310820314, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 606.4063629912246, + -850.7004310820314, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 609.4063629912246, + -850.7004310820314, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 612.4063629912246, + -850.7004310820314, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 615.4063629912246, + -850.7004310820314, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 618.4063629912246, + -850.7004310820314, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 621.4063629912246, + -850.7004310820314, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 624.4063629912246, + -850.7004310820314, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 627.4063629912246, + -850.7004310820314, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 630.4063629912246, + -850.7004310820314, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 633.4063629912246, + -850.7004310820314, + 46.42898663686895 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 633.4063629912246, + -850.7004310820314, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 636.0044392025779, + -852.2004310820314, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 638.6025154139313, + -853.7004310820314, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 641.2005916252847, + -855.2004310820314, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 643.7986678366381, + -856.7004310820314, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 646.3967440479914, + -858.2004310820314, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 648.9948202593448, + -859.7004310820314, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 651.5928964706982, + -861.2004310820314, + 46.42898663686895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 654.1909726820516, + -862.7004310820314, + 46.42898663686895 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 700.0, + -868.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-12-5_1991504719/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-12-5_1991504719/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..310b82498a256ba890a76e6282712e7d97afdb9b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-12-5_1991504719/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 166.22277004522994, + 523.7442949423174, + 58.64485345956615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 164.72277004522994, + 526.3423711536707, + 58.64485345956615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 163.22277004522994, + 528.940447365024, + 58.64485345956615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 161.72277004522994, + 531.5385235763774, + 58.64485345956615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 160.22277004522994, + 534.1365997877308, + 58.64485345956615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 158.72277004522994, + 536.7346759990842, + 58.64485345956615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 157.22277004522994, + 539.3327522104375, + 58.64485345956615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 155.72277004522994, + 541.9308284217909, + 58.64485345956615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 154.22277004522994, + 544.5289046331443, + 58.64485345956615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 152.72277004522994, + 547.1269808444977, + 58.64485345956615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 151.22277004522994, + 549.725057055851, + 58.64485345956615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 149.72277004522994, + 552.3231332672044, + 58.64485345956615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 148.22277004522994, + 554.9212094785578, + 58.64485345956615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 146.72277004522994, + 557.5192856899112, + 58.64485345956615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 145.22277004522994, + 560.1173619012645, + 58.64485345956615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 143.72277004522994, + 562.7154381126179, + 58.64485345956615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 142.22277004522994, + 565.3135143239713, + 58.64485345956615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 140.72277004522994, + 567.9115905353246, + 58.64485345956615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 139.22277004522994, + 570.509666746678, + 58.64485345956615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 137.72277004522994, + 573.1077429580314, + 58.64485345956615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 136.22277004522994, + 575.7058191693848, + 58.64485345956615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 134.72277004522994, + 578.3038953807381, + 58.64485345956615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 133.22277004522994, + 580.9019715920915, + 58.64485345956615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 131.72277004522994, + 583.5000478034449, + 58.64485345956615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 130.22277004522994, + 586.0981240147983, + 58.64485345956615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 128.72277004522994, + 588.6962002261516, + 58.64485345956615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 127.22277004522994, + 591.294276437505, + 58.64485345956615 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 127.22277004522994, + 591.294276437505, + 58.64485345956615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 124.62469383387662, + 592.794276437505, + 58.64485345956615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 122.0266176225233, + 594.294276437505, + 58.64485345956615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 119.42854141116999, + 595.794276437505, + 58.64485345956615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 116.83046519981667, + 597.294276437505, + 58.64485345956615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 114.23238898846336, + 598.794276437505, + 58.64485345956615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 111.63431277711004, + 600.294276437505, + 58.64485345956615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 109.03623656575672, + 601.794276437505, + 58.64485345956615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 106.43816035440341, + 603.294276437505, + 58.64485345956615 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 106.43816035440341, + 603.294276437505, + 58.64485345956615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 104.93816035440341, + 605.8923526488584, + 58.64485345956615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 103.43816035440341, + 608.4904288602118, + 58.64485345956615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 101.93816035440341, + 611.0885050715651, + 58.64485345956615 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + 660.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-25-25_1922824791/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-25-25_1922824791/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dbf3b03c1e278bc89a7cb1980fd3af7470cc7746 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-25-25_1922824791/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 900.3487033518737, + 924.0677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 897.7506271405205, + 925.5677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 895.1525509291671, + 927.0677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 892.5544747178137, + 928.5677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 889.9563985064603, + 930.0677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 887.358322295107, + 931.5677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 884.7602460837536, + 933.0677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 882.1621698724002, + 934.5677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 879.5640936610469, + 936.0677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 876.9660174496935, + 937.5677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 874.3679412383401, + 939.0677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 871.7698650269867, + 940.5677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 869.1717888156334, + 942.0677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 866.57371260428, + 943.5677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 863.9756363929266, + 945.0677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 861.3775601815732, + 946.5677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 858.7794839702199, + 948.0677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 856.1814077588665, + 949.5677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 853.5833315475131, + 951.0677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 850.9852553361598, + 952.5677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 848.3871791248064, + 954.0677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 845.789102913453, + 955.5677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 843.1910267020996, + 957.0677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 840.5929504907463, + 958.5677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 837.9948742793929, + 960.0677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 835.3967980680395, + 961.5677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 832.7987218566861, + 963.0677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 830.2006456453328, + 964.5677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 827.6025694339794, + 966.0677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 825.004493222626, + 967.5677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 822.4064170112727, + 969.0677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 819.8083407999193, + 970.5677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 817.2102645885659, + 972.0677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 814.6121883772125, + 973.5677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 812.0141121658592, + 975.0677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 809.4160359545058, + 976.5677871993475, + 60.767686738628484 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 809.4160359545058, + 976.5677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 806.4160359545058, + 976.5677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 803.4160359545058, + 976.5677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 800.4160359545058, + 976.5677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 797.4160359545058, + 976.5677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 794.4160359545058, + 976.5677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 791.4160359545058, + 976.5677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 788.4160359545058, + 976.5677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 785.4160359545058, + 976.5677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 782.4160359545058, + 976.5677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 779.4160359545058, + 976.5677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 776.4160359545058, + 976.5677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 773.4160359545058, + 976.5677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 770.4160359545058, + 976.5677871993475, + 60.767686738628484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 767.4160359545058, + 976.5677871993475, + 60.767686738628484 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 736.0, + 988.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-35-59_1305589888/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-35-59_1305589888/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2b5db1e6cbcfeac1cec59b7f80328a4b2af121ef --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-35-59_1305589888/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1596.5403141374004, + 816.0503028499072, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1596.5403141374004, + 819.0503028499072, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1596.5403141374004, + 822.0503028499072, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1596.5403141374004, + 825.0503028499072, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1596.5403141374004, + 828.0503028499072, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1596.5403141374004, + 831.0503028499072, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1596.5403141374004, + 834.0503028499072, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1596.5403141374004, + 837.0503028499072, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1596.5403141374004, + 840.0503028499072, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1596.5403141374004, + 843.0503028499072, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1596.5403141374004, + 846.0503028499072, + 59.83919574316279 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1596.5403141374004, + 846.0503028499072, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1595.0403141374004, + 848.6483790612606, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1593.5403141374004, + 851.246455272614, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1592.0403141374004, + 853.8445314839673, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1590.5403141374004, + 856.4426076953207, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1589.0403141374004, + 859.0406839066741, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1587.5403141374004, + 861.6387601180274, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1586.0403141374004, + 864.2368363293808, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1584.5403141374004, + 866.8349125407342, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1583.0403141374004, + 869.4329887520876, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1581.5403141374004, + 872.0310649634409, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1580.0403141374004, + 874.6291411747943, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1578.5403141374004, + 877.2272173861477, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1577.0403141374004, + 879.8252935975011, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1575.5403141374004, + 882.4233698088544, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1574.0403141374004, + 885.0214460202078, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1572.5403141374004, + 887.6195222315612, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1571.0403141374004, + 890.2175984429146, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1569.5403141374004, + 892.8156746542679, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1568.0403141374004, + 895.4137508656213, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1566.5403141374004, + 898.0118270769747, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1565.0403141374004, + 900.609903288328, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1563.5403141374004, + 903.2079794996814, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1562.0403141374004, + 905.8060557110348, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1560.5403141374004, + 908.4041319223882, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1559.0403141374004, + 911.0022081337415, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1557.5403141374004, + 913.6002843450949, + 59.83919574316279 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1557.5403141374004, + 913.6002843450949, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1557.5403141374004, + 916.6002843450949, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1557.5403141374004, + 919.6002843450949, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1557.5403141374004, + 922.6002843450949, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1557.5403141374004, + 925.6002843450949, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1557.5403141374004, + 928.6002843450949, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1557.5403141374004, + 931.6002843450949, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1557.5403141374004, + 934.6002843450949, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1557.5403141374004, + 937.6002843450949, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1557.5403141374004, + 940.6002843450949, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1557.5403141374004, + 943.6002843450949, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1557.5403141374004, + 946.6002843450949, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1557.5403141374004, + 949.6002843450949, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1557.5403141374004, + 952.6002843450949, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1557.5403141374004, + 955.6002843450949, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1557.5403141374004, + 958.6002843450949, + 59.83919574316279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1557.5403141374004, + 961.6002843450949, + 59.83919574316279 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1552.0, + 984.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-36-33_1196556829/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-36-33_1196556829/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2d17c44f5f5239aff70db751fa4ec6b652f06179 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-36-33_1196556829/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 512.8438247827631, + 1723.4703447447014, + 46.29471283529292 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 511.34382478276314, + 1726.0684209560548, + 46.29471283529292 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 509.84382478276314, + 1728.6664971674081, + 46.29471283529292 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 508.34382478276314, + 1731.2645733787615, + 46.29471283529292 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 506.84382478276314, + 1733.8626495901149, + 46.29471283529292 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 505.34382478276314, + 1736.4607258014682, + 46.29471283529292 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 503.84382478276314, + 1739.0588020128216, + 46.29471283529292 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 502.34382478276314, + 1741.656878224175, + 46.29471283529292 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 500.84382478276314, + 1744.2549544355284, + 46.29471283529292 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 499.34382478276314, + 1746.8530306468817, + 46.29471283529292 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 497.84382478276314, + 1749.451106858235, + 46.29471283529292 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 496.34382478276314, + 1752.0491830695885, + 46.29471283529292 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 494.84382478276314, + 1754.6472592809419, + 46.29471283529292 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 493.34382478276314, + 1757.2453354922952, + 46.29471283529292 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 491.84382478276314, + 1759.8434117036486, + 46.29471283529292 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 490.34382478276314, + 1762.441487915002, + 46.29471283529292 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 490.34382478276314, + 1762.441487915002, + 46.29471283529292 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 490.34382478276314, + 1765.441487915002, + 46.29471283529292 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 490.34382478276314, + 1768.441487915002, + 46.29471283529292 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 490.34382478276314, + 1771.441487915002, + 46.29471283529292 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 490.34382478276314, + 1774.441487915002, + 46.29471283529292 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 490.34382478276314, + 1777.441487915002, + 46.29471283529292 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 490.34382478276314, + 1780.441487915002, + 46.29471283529292 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 490.34382478276314, + 1783.441487915002, + 46.29471283529292 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 490.34382478276314, + 1786.441487915002, + 46.29471283529292 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 490.34382478276314, + 1789.441487915002, + 46.29471283529292 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 490.34382478276314, + 1792.441487915002, + 46.29471283529292 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 490.34382478276314, + 1795.441487915002, + 46.29471283529292 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 490.34382478276314, + 1798.441487915002, + 46.29471283529292 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 472.0, + 1872.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-37-20_337554739/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-37-20_337554739/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9438f720d8cc0442d3f86074ac5d97e55d076d2e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-37-20_337554739/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1788.4898193648432, + 1769.4333221711572, + 40.06526640106835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1786.9898193648432, + 1772.0313983825106, + 40.06526640106835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1785.4898193648432, + 1774.629474593864, + 40.06526640106835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1783.9898193648432, + 1777.2275508052173, + 40.06526640106835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1782.4898193648432, + 1779.8256270165707, + 40.06526640106835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1780.9898193648432, + 1782.423703227924, + 40.06526640106835 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1780.9898193648432, + 1782.423703227924, + 40.06526640106835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1778.3917431534899, + 1783.923703227924, + 40.06526640106835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1775.7936669421365, + 1785.423703227924, + 40.06526640106835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1773.1955907307831, + 1786.923703227924, + 40.06526640106835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1770.5975145194298, + 1788.423703227924, + 40.06526640106835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1767.9994383080764, + 1789.923703227924, + 40.06526640106835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1765.401362096723, + 1791.423703227924, + 40.06526640106835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1762.8032858853696, + 1792.923703227924, + 40.06526640106835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1760.2052096740163, + 1794.423703227924, + 40.06526640106835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1757.607133462663, + 1795.923703227924, + 40.06526640106835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1755.0090572513095, + 1797.423703227924, + 40.06526640106835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1752.4109810399561, + 1798.923703227924, + 40.06526640106835 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1752.4109810399561, + 1798.923703227924, + 40.06526640106835 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1749.4109810399561, + 1798.923703227924, + 40.06526640106835 + ], + "type": "stop", + "value": 0, + "yaw": -9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1660.0, + 1864.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-38-34_601854194/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-38-34_601854194/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..97558764e932ef8025790c83faea4aac1fe3edf8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-38-34_601854194/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1274.8804754661733, + -1722.4207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1272.28239925482, + -1723.9207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1269.6843230434665, + -1725.4207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1267.0862468321131, + -1726.9207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1264.4881706207598, + -1728.4207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1261.8900944094064, + -1729.9207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1259.292018198053, + -1731.4207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1256.6939419866997, + -1732.9207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1254.0958657753463, + -1734.4207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1251.497789563993, + -1735.9207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1248.8997133526395, + -1737.4207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1246.3016371412862, + -1738.9207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1243.7035609299328, + -1740.4207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1241.1054847185794, + -1741.9207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1238.507408507226, + -1743.4207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1235.9093322958727, + -1744.9207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1233.3112560845193, + -1746.4207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1230.713179873166, + -1747.9207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1228.1151036618126, + -1749.4207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1225.5170274504592, + -1750.9207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1222.9189512391058, + -1752.4207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1220.3208750277524, + -1753.9207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1217.722798816399, + -1755.4207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1215.1247226050457, + -1756.9207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1212.5266463936923, + -1758.4207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1209.928570182339, + -1759.9207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1207.3304939709856, + -1761.4207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1204.7324177596322, + -1762.9207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1202.1343415482788, + -1764.4207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1199.5362653369255, + -1765.9207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1196.938189125572, + -1767.4207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1194.3401129142187, + -1768.9207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1191.7420367028653, + -1770.4207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1189.143960491512, + -1771.9207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1186.5458842801586, + -1773.4207567503115, + 66.85897826996597 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1186.5458842801586, + -1773.4207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1183.5458842801586, + -1773.4207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1180.5458842801586, + -1773.4207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1177.5458842801586, + -1773.4207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1174.5458842801586, + -1773.4207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1171.5458842801586, + -1773.4207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1168.5458842801586, + -1773.4207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1165.5458842801586, + -1773.4207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1162.5458842801586, + -1773.4207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1159.5458842801586, + -1773.4207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1156.5458842801586, + -1773.4207567503115, + 66.85897826996597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1153.5458842801586, + -1773.4207567503115, + 66.85897826996597 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1132.0, + -1784.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-44-9_916350768/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-44-9_916350768/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..970f44807e498f0196dccdf07fec0a7d53cfda11 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-44-9_916350768/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 655.1292381703621, + 644.4598700313072, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 655.1292381703621, + 641.4598700313072, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 655.1292381703621, + 638.4598700313072, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 655.1292381703621, + 635.4598700313072, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 655.1292381703621, + 632.4598700313072, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 655.1292381703621, + 629.4598700313072, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 655.1292381703621, + 626.4598700313072, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 655.1292381703621, + 623.4598700313072, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 655.1292381703621, + 620.4598700313072, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 655.1292381703621, + 617.4598700313072, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 655.1292381703621, + 614.4598700313072, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 655.1292381703621, + 611.4598700313072, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 655.1292381703621, + 608.4598700313072, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 655.1292381703621, + 605.4598700313072, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 655.1292381703621, + 602.4598700313072, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 655.1292381703621, + 599.4598700313072, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 655.1292381703621, + 596.4598700313072, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 655.1292381703621, + 593.4598700313072, + 51.118512052057724 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 655.1292381703621, + 593.4598700313072, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 656.6292381703621, + 590.8617938199538, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 658.1292381703621, + 588.2637176086005, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 659.6292381703621, + 585.6656413972471, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 661.1292381703621, + 583.0675651858937, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 662.6292381703621, + 580.4694889745404, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 664.1292381703621, + 577.871412763187, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 665.6292381703621, + 575.2733365518336, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 667.1292381703621, + 572.6752603404802, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 668.6292381703621, + 570.0771841291269, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 670.1292381703621, + 567.4791079177735, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 671.6292381703621, + 564.8810317064201, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 673.1292381703621, + 562.2829554950667, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 674.6292381703621, + 559.6848792837134, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 676.1292381703621, + 557.08680307236, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 677.6292381703621, + 554.4887268610066, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 679.1292381703621, + 551.8906506496533, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 680.6292381703621, + 549.2925744382999, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 682.1292381703621, + 546.6944982269465, + 51.118512052057724 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 682.1292381703621, + 546.6944982269465, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 684.7273143817154, + 545.1944982269465, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 687.3253905930687, + 543.6944982269465, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 689.9234668044221, + 542.1944982269465, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 692.5215430157755, + 540.6944982269465, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 695.1196192271289, + 539.1944982269465, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 697.7176954384822, + 537.6944982269465, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 700.3157716498356, + 536.1944982269465, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 702.913847861189, + 534.6944982269465, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 705.5119240725423, + 533.1944982269465, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 708.1100002838957, + 531.6944982269465, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 710.7080764952491, + 530.1944982269465, + 51.118512052057724 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 710.7080764952491, + 530.1944982269465, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 713.7080764952491, + 530.1944982269465, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 716.7080764952491, + 530.1944982269465, + 51.118512052057724 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 716.7080764952491, + 530.1944982269465, + 51.118512052057724 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 719.3061527066025, + 528.6944982269465, + 51.118512052057724 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 728.0, + 512.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-46-57_579166829/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-46-57_579166829/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ae7cf365b726bd835e5bda34803e78aa80a030f9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-46-57_579166829/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 826.2729245775163, + 329.77877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 828.8710007888697, + 328.27877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 831.469077000223, + 326.77877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 834.0671532115764, + 325.27877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 836.6652294229298, + 323.77877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 839.2633056342831, + 322.27877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 841.8613818456365, + 320.77877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 844.4594580569899, + 319.27877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 847.0575342683433, + 317.77877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 849.6556104796966, + 316.27877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 852.25368669105, + 314.77877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 854.8517629024034, + 313.27877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 857.4498391137568, + 311.77877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 860.0479153251101, + 310.27877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 862.6459915364635, + 308.77877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 865.2440677478169, + 307.27877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 867.8421439591702, + 305.77877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 870.4402201705236, + 304.27877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 873.038296381877, + 302.77877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 875.6363725932304, + 301.27877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 878.2344488045837, + 299.77877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 880.8325250159371, + 298.27877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 883.4306012272905, + 296.77877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 886.0286774386439, + 295.27877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 888.6267536499972, + 293.77877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 891.2248298613506, + 292.27877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 893.822906072704, + 290.77877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 896.4209822840573, + 289.27877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 899.0190584954107, + 287.77877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 901.6171347067641, + 286.27877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 904.2152109181175, + 284.77877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 906.8132871294708, + 283.27877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 909.4113633408242, + 281.77877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 912.0094395521776, + 280.27877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 914.607515763531, + 278.77877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 917.2055919748843, + 277.27877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 919.8036681862377, + 275.77877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 922.4017443975911, + 274.27877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 924.9998206089444, + 272.77877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 927.5978968202978, + 271.27877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 930.1959730316512, + 269.77877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 932.7940492430046, + 268.27877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 935.3921254543579, + 266.77877082836227, + 56.51262460632695 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 935.3921254543579, + 266.77877082836227, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 936.8921254543579, + 264.18069461700895, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 938.3921254543579, + 261.58261840565564, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 939.8921254543579, + 258.9845421943023, + 56.51262460632695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 941.3921254543579, + 256.386465982949, + 56.51262460632695 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 956.0, + 244.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_1-5-31_187161534/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_1-5-31_187161534/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c50e31ca013bf5963317e0ad6dd10c091cc71cdd --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_1-5-31_187161534/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1238.8118946088555, + 555.2509138845501, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1240.3118946088555, + 552.6528376731967, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1241.8118946088555, + 550.0547614618433, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1243.3118946088555, + 547.45668525049, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1244.8118946088555, + 544.8586090391366, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1246.3118946088555, + 542.2605328277832, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1247.8118946088555, + 539.6624566164298, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1249.3118946088555, + 537.0643804050765, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1250.8118946088555, + 534.4663041937231, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1252.3118946088555, + 531.8682279823697, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1253.8118946088555, + 529.2701517710163, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1255.3118946088555, + 526.672075559663, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1256.8118946088555, + 524.0739993483096, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1258.3118946088555, + 521.4759231369562, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1259.8118946088555, + 518.8778469256029, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1261.3118946088555, + 516.2797707142495, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1262.8118946088555, + 513.6816945028961, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1264.3118946088555, + 511.0836182915428, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1265.8118946088555, + 508.4855420801895, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1267.3118946088555, + 505.88746586883616, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1268.8118946088555, + 503.28938965748284, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1270.3118946088555, + 500.6913134461295, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1271.8118946088555, + 498.0932372347762, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1273.3118946088555, + 495.4951610234229, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1274.8118946088555, + 492.8970848120696, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1276.3118946088555, + 490.29900860071626, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1277.8118946088555, + 487.70093238936295, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1279.3118946088555, + 485.10285617800963, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1280.8118946088555, + 482.5047799666563, + 68.35533443887964 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1280.8118946088555, + 482.5047799666563, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1283.4099708202089, + 481.0047799666563, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1286.0080470315622, + 479.5047799666563, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1288.6061232429156, + 478.0047799666563, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1291.204199454269, + 476.5047799666563, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1293.8022756656223, + 475.0047799666563, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1296.4003518769757, + 473.5047799666563, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1298.998428088329, + 472.0047799666563, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1301.5965042996825, + 470.5047799666563, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1304.1945805110358, + 469.0047799666563, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1306.7926567223892, + 467.5047799666563, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1309.3907329337426, + 466.0047799666563, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1311.988809145096, + 464.5047799666563, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1314.5868853564493, + 463.0047799666563, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1317.1849615678027, + 461.5047799666563, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1319.783037779156, + 460.0047799666563, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1322.3811139905094, + 458.5047799666563, + 68.35533443887964 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1322.3811139905094, + 458.5047799666563, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1323.8811139905094, + 455.906703755303, + 68.35533443887964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1325.3811139905094, + 453.3086275439497, + 68.35533443887964 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1344.0, + 432.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_1-7-31_847295153/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_1-7-31_847295153/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6ec154e4c973db9860b4a97d635da03fc44acae6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_1-7-31_847295153/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1465.9916442588233, + 1740.9456704602144, + 44.07248020567274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1467.4916442588233, + 1743.5437466715678, + 44.07248020567274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1468.9916442588233, + 1746.1418228829211, + 44.07248020567274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1470.4916442588233, + 1748.7398990942745, + 44.07248020567274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1471.9916442588233, + 1751.3379753056279, + 44.07248020567274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1473.4916442588233, + 1753.9360515169813, + 44.07248020567274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1474.9916442588233, + 1756.5341277283346, + 44.07248020567274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1476.4916442588233, + 1759.132203939688, + 44.07248020567274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1477.9916442588233, + 1761.7302801510414, + 44.07248020567274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1479.4916442588233, + 1764.3283563623947, + 44.07248020567274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1480.9916442588233, + 1766.9264325737481, + 44.07248020567274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1482.4916442588233, + 1769.5245087851015, + 44.07248020567274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1483.9916442588233, + 1772.1225849964549, + 44.07248020567274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1485.4916442588233, + 1774.7206612078082, + 44.07248020567274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1486.9916442588233, + 1777.3187374191616, + 44.07248020567274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1488.4916442588233, + 1779.916813630515, + 44.07248020567274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1489.9916442588233, + 1782.5148898418684, + 44.07248020567274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1491.4916442588233, + 1785.1129660532217, + 44.07248020567274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1492.9916442588233, + 1787.711042264575, + 44.07248020567274 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1492.9916442588233, + 1787.711042264575, + 44.07248020567274 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1492.9916442588233, + 1790.711042264575, + 44.07248020567274 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1492.9916442588233, + 1793.711042264575, + 44.07248020567274 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1492.9916442588233, + 1796.711042264575, + 44.07248020567274 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1492.9916442588233, + 1799.711042264575, + 44.07248020567274 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1536.0, + 1884.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +}