diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-18_23-54-21_102256/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-18_23-54-21_102256/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8c118b4ef319fe867957d44fff5a1d8877481c13 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-18_23-54-21_102256/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -740.7566602681195, + -2043.2389515767513, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -740.7566602681195, + -2040.2389515767513, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -740.7566602681195, + -2037.2389515767513, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -740.7566602681195, + -2034.2389515767513, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -740.7566602681195, + -2031.2389515767513, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -740.7566602681195, + -2028.2389515767513, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -740.7566602681195, + -2025.2389515767513, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -740.7566602681195, + -2022.2389515767513, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -740.7566602681195, + -2019.2389515767513, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -740.7566602681195, + -2016.2389515767513, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -740.7566602681195, + -2013.2389515767513, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -740.7566602681195, + -2010.2389515767513, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -740.7566602681195, + -2007.2389515767513, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -740.7566602681195, + -2004.2389515767513, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -740.7566602681195, + -2001.2389515767513, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -740.7566602681195, + -1998.2389515767513, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -740.7566602681195, + -1995.2389515767513, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -740.7566602681195, + -1992.2389515767513, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -740.7566602681195, + -1989.2389515767513, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -740.7566602681195, + -1986.2389515767513, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -740.7566602681195, + -1983.2389515767513, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -740.7566602681195, + -1980.2389515767513, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -740.7566602681195, + -1977.2389515767513, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -740.7566602681195, + -1977.2389515767513, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -739.2566602681195, + -1974.640875365398, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -737.7566602681195, + -1972.0427991540446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -736.2566602681195, + -1969.4447229426912, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -734.7566602681195, + -1966.8466467313378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -733.2566602681195, + -1964.2485705199845, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -731.7566602681195, + -1961.650494308631, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -730.2566602681195, + -1959.0524180972777, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -728.7566602681195, + -1956.4543418859244, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -728.7566602681195, + -1956.4543418859244, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -728.7566602681195, + -1956.4543418859244, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -727.2566602681195, + -1953.856265674571, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -725.7566602681195, + -1951.2581894632176, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -724.2566602681195, + -1948.6601132518642, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -722.7566602681195, + -1946.0620370405109, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -721.2566602681195, + -1943.4639608291575, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -719.7566602681195, + -1940.865884617804, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -718.2566602681195, + -1938.2678084064507, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -716.7566602681195, + -1935.6697321950974, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -715.2566602681195, + -1933.071655983744, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -713.7566602681195, + -1930.4735797723906, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -712.2566602681195, + -1927.8755035610372, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -710.7566602681195, + -1925.2774273496839, + -201.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -710.7566602681195, + -1925.2774273496839, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -710.7566602681195, + -1922.2774273496839, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -710.7566602681195, + -1922.2774273496839, + -204.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -710.7566602681195, + -1922.2774273496839, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267949059 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-18_23-55-55_371167/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-18_23-55-55_371167/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ec1db35ffbb25e369364fea402d14ec3c0f1e964 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-18_23-55-55_371167/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -724.7900244515652, + -2052.291383410034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -724.7900244515652, + -2049.291383410034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -724.7900244515652, + -2046.291383410034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -724.7900244515652, + -2043.291383410034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -724.7900244515652, + -2040.291383410034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -724.7900244515652, + -2037.291383410034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -724.7900244515652, + -2034.291383410034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -724.7900244515652, + -2031.291383410034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -724.7900244515652, + -2028.291383410034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -724.7900244515652, + -2025.291383410034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -724.7900244515652, + -2022.291383410034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -724.7900244515652, + -2019.291383410034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -724.7900244515652, + -2016.291383410034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -724.7900244515652, + -2013.291383410034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -724.7900244515652, + -2010.291383410034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -724.7900244515652, + -2007.291383410034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -724.7900244515652, + -2004.291383410034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -724.7900244515652, + -2001.291383410034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -724.7900244515652, + -1998.291383410034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -724.7900244515652, + -1995.291383410034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -724.7900244515652, + -1992.291383410034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -724.7900244515652, + -1989.291383410034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -724.7900244515652, + -1986.291383410034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -724.7900244515652, + -1983.291383410034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -724.7900244515652, + -1980.291383410034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -724.7900244515652, + -1977.291383410034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -724.7900244515652, + -1974.291383410034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -724.7900244515652, + -1971.291383410034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -724.7900244515652, + -1968.291383410034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -724.7900244515652, + -1965.291383410034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -724.7900244515652, + -1962.291383410034, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -724.7900244515652, + -1962.291383410034, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -724.7900244515652, + -1962.291383410034, + -201.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -724.7900244515652, + -1962.291383410034, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -723.2900244515652, + -1959.6933071986807, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -721.7900244515652, + -1957.0952309873273, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -720.2900244515652, + -1954.497154775974, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -718.7900244515652, + -1951.8990785646206, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -717.2900244515652, + -1949.3010023532672, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -715.7900244515652, + -1946.7029261419138, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -714.2900244515652, + -1944.1048499305605, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -712.7900244515652, + -1941.506773719207, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -711.2900244515652, + -1938.9086975078537, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -709.7900244515652, + -1936.3106212965004, + -201.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -709.7900244515652, + -1936.3106212965004, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -709.7900244515652, + -1933.3106212965004, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -709.7900244515652, + -1930.3106212965004, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -709.7900244515652, + -1927.3106212965004, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -709.7900244515652, + -1924.3106212965004, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -709.7900244515652, + -1921.3106212965004, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -709.7900244515652, + -1921.3106212965004, + -204.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -709.7900244515652, + -1921.3106212965004, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-18_23-57-31_780355/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-18_23-57-31_780355/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..696eb70fe01fa58f29b80fc3deec2867ec82b02d --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-18_23-57-31_780355/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -785.187973123806, + -1996.26336455053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -782.5898969124528, + -1994.76336455053, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -782.5898969124528, + -1994.76336455053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -781.0898969124528, + -1992.1652883391766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -779.5898969124528, + -1989.5672121278233, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -779.5898969124528, + -1989.5672121278233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -776.9918207010994, + -1988.0672121278233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -774.393744489746, + -1986.5672121278233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -771.7956682783927, + -1985.0672121278233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -769.1975920670393, + -1983.5672121278233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -766.5995158556859, + -1982.0672121278233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -764.0014396443325, + -1980.5672121278233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -761.4033634329792, + -1979.0672121278233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -758.8052872216258, + -1977.5672121278233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -756.2072110102724, + -1976.0672121278233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -753.6091347989191, + -1974.5672121278233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -751.0110585875657, + -1973.0672121278233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -748.4129823762123, + -1971.5672121278233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -745.8149061648589, + -1970.0672121278233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -743.2168299535056, + -1968.5672121278233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -740.6187537421522, + -1967.0672121278233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -738.0206775307988, + -1965.5672121278233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -735.4226013194454, + -1964.0672121278233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -732.8245251080921, + -1962.5672121278233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -730.2264488967387, + -1961.0672121278233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -727.6283726853853, + -1959.5672121278233, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -727.6283726853853, + -1959.5672121278233, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -727.6283726853853, + -1959.5672121278233, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -725.030296474032, + -1958.0672121278233, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -722.4322202626786, + -1956.5672121278233, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -719.8341440513252, + -1955.0672121278233, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -717.2360678399718, + -1953.5672121278233, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -714.6379916286185, + -1952.0672121278233, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -712.0399154172651, + -1950.5672121278233, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -709.4418392059117, + -1949.0672121278233, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -706.8437629945583, + -1947.5672121278233, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -704.245686783205, + -1946.0672121278233, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -701.6476105718516, + -1944.5672121278233, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -699.0495343604982, + -1943.0672121278233, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -696.4514581491449, + -1941.5672121278233, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -693.8533819377915, + -1940.0672121278233, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -691.2553057264381, + -1938.5672121278233, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -688.6572295150847, + -1937.0672121278233, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -686.0591533037314, + -1935.5672121278233, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -683.461077092378, + -1934.0672121278233, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -683.461077092378, + -1934.0672121278233, + -204.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -683.461077092378, + -1934.0672121278233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -680.8630008810246, + -1932.5672121278233, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-18_23-58-58_328316/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-18_23-58-58_328316/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7dede8b498628bc04471673c009f102d1b39a550 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-18_23-58-58_328316/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -159.28596954349962, + -1591.2612209422293, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -159.28596954349962, + -1591.2612209422293, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -159.28596954349962, + -1591.2612209422293, + -201.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -159.28596954349962, + -1591.2612209422293, + -201.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -159.28596954349962, + -1591.2612209422293, + -201.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -159.28596954349962, + -1591.2612209422293, + -201.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -159.28596954349962, + -1591.2612209422293, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -160.78596954349962, + -1588.663144730876, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -162.28596954349962, + -1586.0650685195226, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -163.78596954349962, + -1583.4669923081692, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -165.28596954349962, + -1580.8689160968158, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -166.78596954349962, + -1578.2708398854625, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -168.28596954349962, + -1575.672763674109, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -169.78596954349962, + -1573.0746874627557, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -171.28596954349962, + -1570.4766112514023, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -172.78596954349962, + -1567.878535040049, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -174.28596954349962, + -1565.2804588286956, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -175.78596954349962, + -1562.6823826173422, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -177.28596954349962, + -1560.0843064059889, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -178.78596954349962, + -1557.4862301946355, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -180.28596954349962, + -1554.888153983282, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -181.78596954349962, + -1552.2900777719287, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -183.28596954349962, + -1549.6920015605754, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -184.78596954349962, + -1547.093925349222, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -186.28596954349962, + -1544.4958491378686, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -187.78596954349962, + -1541.8977729265152, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -189.28596954349962, + -1539.2996967151619, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -190.78596954349962, + -1536.7016205038085, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -192.28596954349962, + -1534.1035442924551, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -193.78596954349962, + -1531.5054680811018, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -195.28596954349962, + -1528.9073918697484, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -196.78596954349962, + -1526.309315658395, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -198.28596954349962, + -1523.7112394470416, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -199.78596954349962, + -1521.1131632356883, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -201.28596954349962, + -1518.515087024335, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -202.78596954349962, + -1515.9170108129815, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -204.28596954349962, + -1513.3189346016281, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -205.78596954349962, + -1510.7208583902748, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -207.28596954349962, + -1508.1227821789214, + -201.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -207.28596954349962, + -1508.1227821789214, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -209.88404575485293, + -1506.6227821789214, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -212.48212196620625, + -1505.1227821789214, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -215.08019817755957, + -1503.6227821789214, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -217.67827438891288, + -1502.1227821789214, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -220.2763506002662, + -1500.6227821789214, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -222.87442681161951, + -1499.1227821789214, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -225.47250302297283, + -1497.6227821789214, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -228.07057923432615, + -1496.1227821789214, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -230.66865544567946, + -1494.6227821789214, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -233.26673165703278, + -1493.1227821789214, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -235.8648078683861, + -1491.6227821789214, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -238.4628840797394, + -1490.1227821789214, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -241.06096029109273, + -1488.6227821789214, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -243.65903650244604, + -1487.1227821789214, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -246.25711271379936, + -1485.6227821789214, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -246.25711271379936, + -1485.6227821789214, + -204.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -246.25711271379936, + -1485.6227821789214, + -204.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -246.25711271379936, + -1485.6227821789214, + -204.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -246.25711271379936, + -1482.6227821789214, + -204.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -246.25711271379936, + -1479.6227821789214, + -204.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -246.25711271379936, + -1479.6227821789214, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-12-45_218801/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-12-45_218801/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2a06b4412f37d6fbb19cc60b9793f940dd8829a7 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-12-45_218801/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -797.366562547295, + -1990.6685511481228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -794.7684863359416, + -1989.1685511481228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -792.1704101245882, + -1987.6685511481228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -789.5723339132348, + -1986.1685511481228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -786.9742577018815, + -1984.6685511481228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -784.3761814905281, + -1983.1685511481228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -781.7781052791747, + -1981.6685511481228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -779.1800290678214, + -1980.1685511481228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -776.581952856468, + -1978.6685511481228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -773.9838766451146, + -1977.1685511481228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -771.3858004337612, + -1975.6685511481228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -768.7877242224079, + -1974.1685511481228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -766.1896480110545, + -1972.6685511481228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -763.5915717997011, + -1971.1685511481228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -760.9934955883477, + -1969.6685511481228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -758.3954193769944, + -1968.1685511481228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -755.797343165641, + -1966.6685511481228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -753.1992669542876, + -1965.1685511481228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -750.6011907429343, + -1963.6685511481228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -748.0031145315809, + -1962.1685511481228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -745.4050383202275, + -1960.6685511481228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -742.8069621088741, + -1959.1685511481228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -740.2088858975208, + -1957.6685511481228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -737.6108096861674, + -1956.1685511481228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -735.012733474814, + -1954.6685511481228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -732.4146572634606, + -1953.1685511481228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -729.8165810521073, + -1951.6685511481228, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -729.8165810521073, + -1951.6685511481228, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -729.8165810521073, + -1951.6685511481228, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -727.2185048407539, + -1950.1685511481228, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -724.6204286294005, + -1948.6685511481228, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -722.0223524180471, + -1947.1685511481228, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -719.4242762066938, + -1945.6685511481228, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -716.8261999953404, + -1944.1685511481228, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -714.228123783987, + -1942.6685511481228, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -711.6300475726337, + -1941.1685511481228, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -709.0319713612803, + -1939.6685511481228, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -706.4338951499269, + -1938.1685511481228, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -703.8358189385735, + -1936.6685511481228, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -701.2377427272202, + -1935.1685511481228, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -698.6396665158668, + -1933.6685511481228, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -696.0415903045134, + -1932.1685511481228, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -693.44351409316, + -1930.6685511481228, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -690.8454378818067, + -1929.1685511481228, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -688.2473616704533, + -1927.6685511481228, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -688.2473616704533, + -1927.6685511481228, + -204.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -688.2473616704533, + -1927.6685511481228, + -204.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -685.2473616704533, + -1927.6685511481228, + -204.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -682.2473616704533, + -1927.6685511481228, + -204.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -682.2473616704533, + -1927.6685511481228, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-15-11_342730/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-15-11_342730/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..70d6daf07d85ab6dc1975d7c79a3858b8aec51ae --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-15-11_342730/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -170.51459814513595, + -1595.394913854273, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -172.01459814513595, + -1592.7968376429196, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -172.01459814513595, + -1592.7968376429196, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -172.01459814513595, + -1592.7968376429196, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -173.51459814513595, + -1590.1987614315663, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -175.01459814513595, + -1587.6006852202129, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -176.51459814513595, + -1585.0026090088595, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -178.01459814513595, + -1582.4045327975061, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -179.51459814513595, + -1579.8064565861528, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -181.01459814513595, + -1577.2083803747994, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -182.51459814513595, + -1574.610304163446, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -184.01459814513595, + -1572.0122279520926, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -185.51459814513595, + -1569.4141517407393, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -187.01459814513595, + -1566.816075529386, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -188.51459814513595, + -1564.2179993180325, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -190.01459814513595, + -1561.6199231066792, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -191.51459814513595, + -1559.0218468953258, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -193.01459814513595, + -1556.4237706839724, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -194.51459814513595, + -1553.825694472619, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -196.01459814513595, + -1551.2276182612657, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -197.51459814513595, + -1548.6295420499123, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -199.01459814513595, + -1546.031465838559, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -200.51459814513595, + -1543.4333896272055, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -202.01459814513595, + -1540.8353134158522, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -203.51459814513595, + -1538.2372372044988, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -205.01459814513595, + -1535.6391609931454, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -206.51459814513595, + -1533.041084781792, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -208.01459814513595, + -1530.4430085704387, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -209.51459814513595, + -1527.8449323590853, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -211.01459814513595, + -1525.246856147732, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -212.51459814513595, + -1522.6487799363786, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -214.01459814513595, + -1520.0507037250252, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -215.51459814513595, + -1517.4526275136718, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -217.01459814513595, + -1514.8545513023184, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -218.51459814513595, + -1512.256475090965, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -220.01459814513595, + -1509.6583988796117, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -221.51459814513595, + -1507.0603226682583, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -223.01459814513595, + -1504.462246456905, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -224.51459814513595, + -1501.8641702455516, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -226.01459814513595, + -1499.2660940341982, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -227.51459814513595, + -1496.6680178228448, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -229.01459814513595, + -1494.0699416114915, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -230.51459814513595, + -1491.471865400138, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -232.01459814513595, + -1488.8737891887847, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -233.51459814513595, + -1486.2757129774313, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -235.01459814513595, + -1483.677636766078, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -236.51459814513595, + -1481.0795605547246, + -201.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -236.51459814513595, + -1481.0795605547246, + -201.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -236.51459814513595, + -1481.0795605547246, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897833 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -239.51459814513595, + -1481.0795605547246, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -242.51459814513595, + -1481.0795605547246, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -245.51459814513595, + -1481.0795605547246, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -245.51459814513595, + -1481.0795605547246, + -204.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -245.51459814513595, + -1481.0795605547246, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -245.51459814513595, + -1481.0795605547246, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -248.11267435648926, + -1479.5795605547246, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-16-51_675324/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-16-51_675324/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ed0ba97f9a932641810719883678208fa66de204 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-16-51_675324/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -789.6508723991626, + -1984.7117006922126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -787.0527961878092, + -1983.2117006922126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -784.4547199764559, + -1981.7117006922126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -781.8566437651025, + -1980.2117006922126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -779.2585675537491, + -1978.7117006922126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -776.6604913423957, + -1977.2117006922126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -774.0624151310424, + -1975.7117006922126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -771.464338919689, + -1974.2117006922126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -768.8662627083356, + -1972.7117006922126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -766.2681864969823, + -1971.2117006922126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -763.6701102856289, + -1969.7117006922126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -761.0720340742755, + -1968.2117006922126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -758.4739578629221, + -1966.7117006922126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -755.8758816515688, + -1965.2117006922126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -753.2778054402154, + -1963.7117006922126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -750.679729228862, + -1962.2117006922126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -748.0816530175086, + -1960.7117006922126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -745.4835768061553, + -1959.2117006922126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -742.8855005948019, + -1957.7117006922126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -740.2874243834485, + -1956.2117006922126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -737.6893481720952, + -1954.7117006922126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -735.0912719607418, + -1953.2117006922126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -732.4931957493884, + -1951.7117006922126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -729.895119538035, + -1950.2117006922126, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -729.895119538035, + -1950.2117006922126, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -729.895119538035, + -1950.2117006922126, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -727.2970433266817, + -1948.7117006922126, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -724.6989671153283, + -1947.2117006922126, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -722.1008909039749, + -1945.7117006922126, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -719.5028146926215, + -1944.2117006922126, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -716.9047384812682, + -1942.7117006922126, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -714.3066622699148, + -1941.2117006922126, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -711.7085860585614, + -1939.7117006922126, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -709.110509847208, + -1938.2117006922126, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -706.5124336358547, + -1936.7117006922126, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -703.9143574245013, + -1935.2117006922126, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -701.3162812131479, + -1933.7117006922126, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -698.7182050017946, + -1932.2117006922126, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -696.1201287904412, + -1930.7117006922126, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -693.5220525790878, + -1929.2117006922126, + -201.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -693.5220525790878, + -1929.2117006922126, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -690.5220525790878, + -1929.2117006922126, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -687.5220525790878, + -1929.2117006922126, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -684.5220525790878, + -1929.2117006922126, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -684.5220525790878, + -1929.2117006922126, + -204.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -684.5220525790878, + -1929.2117006922126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -681.5220525790878, + -1929.2117006922126, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-28-09_771468/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-28-09_771468/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1e0424f1acdd847686e7e6ea592e82b382ae9bf3 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-28-09_771468/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -809.2978222833832, + -1988.499861178638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -806.2978222833832, + -1988.499861178638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -803.2978222833832, + -1988.499861178638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -800.2978222833832, + -1988.499861178638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -797.2978222833832, + -1988.499861178638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -794.2978222833832, + -1988.499861178638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -791.2978222833832, + -1988.499861178638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -788.2978222833832, + -1988.499861178638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -785.2978222833832, + -1988.499861178638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -782.2978222833832, + -1988.499861178638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -779.2978222833832, + -1988.499861178638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -776.2978222833832, + -1988.499861178638, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -776.2978222833832, + -1988.499861178638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -773.6997460720299, + -1986.999861178638, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -773.6997460720299, + -1986.999861178638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -772.1997460720299, + -1984.4017849672846, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -770.6997460720299, + -1981.8037087559312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -769.1997460720299, + -1979.2056325445778, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -767.6997460720299, + -1976.6075563332245, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -767.6997460720299, + -1976.6075563332245, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -765.1016698606766, + -1975.1075563332245, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -762.5035936493232, + -1973.6075563332245, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -759.9055174379698, + -1972.1075563332245, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -757.3074412266164, + -1970.6075563332245, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -754.7093650152631, + -1969.1075563332245, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -752.1112888039097, + -1967.6075563332245, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -749.5132125925563, + -1966.1075563332245, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -746.915136381203, + -1964.6075563332245, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -744.3170601698496, + -1963.1075563332245, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -741.7189839584962, + -1961.6075563332245, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -739.1209077471428, + -1960.1075563332245, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -736.5228315357895, + -1958.6075563332245, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -733.9247553244361, + -1957.1075563332245, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -731.3266791130827, + -1955.6075563332245, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -731.3266791130827, + -1955.6075563332245, + -204.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -728.7286029017293, + -1954.1075563332245, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -728.7286029017293, + -1954.1075563332245, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -726.130526690376, + -1952.6075563332245, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -723.5324504790226, + -1951.1075563332245, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -720.9343742676692, + -1949.6075563332245, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -718.3362980563159, + -1948.1075563332245, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -715.7382218449625, + -1946.6075563332245, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -713.1401456336091, + -1945.1075563332245, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -710.5420694222557, + -1943.6075563332245, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -707.9439932109024, + -1942.1075563332245, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -705.345916999549, + -1940.6075563332245, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -702.7478407881956, + -1939.1075563332245, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -700.1497645768422, + -1937.6075563332245, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -697.5516883654889, + -1936.1075563332245, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -694.9536121541355, + -1934.6075563332245, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -692.3555359427821, + -1933.1075563332245, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -689.7574597314288, + -1931.6075563332245, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -687.1593835200754, + -1930.1075563332245, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -684.561307308722, + -1928.6075563332245, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -684.561307308722, + -1928.6075563332245, + -204.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -684.561307308722, + -1928.6075563332245, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -681.9632310973686, + -1927.1075563332245, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-30-38_867553/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-30-38_867553/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6e96ad63fa03fa489ce025143f1a410e7e3c960f --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-30-38_867553/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -798.4170055628388, + -1994.3878635749536, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -795.4170055628388, + -1994.3878635749536, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -792.4170055628388, + -1994.3878635749536, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -789.4170055628388, + -1994.3878635749536, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -786.4170055628388, + -1994.3878635749536, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -783.4170055628388, + -1994.3878635749536, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -783.4170055628388, + -1994.3878635749536, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -780.8189293514854, + -1992.8878635749536, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -780.8189293514854, + -1992.8878635749536, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -779.3189293514854, + -1990.2897873636002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -777.8189293514854, + -1987.6917111522469, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -777.8189293514854, + -1987.6917111522469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -775.220853140132, + -1986.1917111522469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -772.6227769287786, + -1984.6917111522469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -770.0247007174253, + -1983.1917111522469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -767.4266245060719, + -1981.6917111522469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -764.8285482947185, + -1980.1917111522469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -762.2304720833652, + -1978.6917111522469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -759.6323958720118, + -1977.1917111522469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -757.0343196606584, + -1975.6917111522469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -754.436243449305, + -1974.1917111522469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -751.8381672379517, + -1972.6917111522469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -749.2400910265983, + -1971.1917111522469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -746.6420148152449, + -1969.6917111522469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -744.0439386038915, + -1968.1917111522469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -741.4458623925382, + -1966.6917111522469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -738.8477861811848, + -1965.1917111522469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -736.2497099698314, + -1963.6917111522469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -733.651633758478, + -1962.1917111522469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -731.0535575471247, + -1960.6917111522469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -728.4554813357713, + -1959.1917111522469, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -728.4554813357713, + -1959.1917111522469, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -728.4554813357713, + -1959.1917111522469, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -725.8574051244179, + -1957.6917111522469, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -723.2593289130646, + -1956.1917111522469, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -720.6612527017112, + -1954.6917111522469, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -718.0631764903578, + -1953.1917111522469, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -715.4651002790044, + -1951.6917111522469, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -712.8670240676511, + -1950.1917111522469, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -710.2689478562977, + -1948.6917111522469, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -707.6708716449443, + -1947.1917111522469, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -705.072795433591, + -1945.6917111522469, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -702.4747192222376, + -1944.1917111522469, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -699.8766430108842, + -1942.6917111522469, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -697.2785667995308, + -1941.1917111522469, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -694.6804905881775, + -1939.6917111522469, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -692.0824143768241, + -1938.1917111522469, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -689.4843381654707, + -1936.6917111522469, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -686.8862619541173, + -1935.1917111522469, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -684.288185742764, + -1933.6917111522469, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -681.6901095314106, + -1932.1917111522469, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -681.6901095314106, + -1932.1917111522469, + -204.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -681.6901095314106, + -1932.1917111522469, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -681.6901095314106, + -1932.1917111522469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -680.1901095314106, + -1929.5936349408935, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.047197551196588 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-31-30_319744/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-31-30_319744/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8d0739196d7a8d83ce0bd792206a6d0a89151bc7 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-31-30_319744/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -789.7338205088007, + -1996.8158714415817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -787.1357442974474, + -1995.3158714415817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -784.5376680860941, + -1993.8158714415817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -781.9395918747407, + -1992.3158714415817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -779.3415156633873, + -1990.8158714415817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -776.743439452034, + -1989.3158714415817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -774.1453632406806, + -1987.8158714415817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -771.5472870293272, + -1986.3158714415817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -768.9492108179738, + -1984.8158714415817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -766.3511346066205, + -1983.3158714415817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -763.7530583952671, + -1981.8158714415817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -761.1549821839137, + -1980.3158714415817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -758.5569059725603, + -1978.8158714415817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -755.958829761207, + -1977.3158714415817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -753.3607535498536, + -1975.8158714415817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -750.7626773385002, + -1974.3158714415817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -748.1646011271469, + -1972.8158714415817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -745.5665249157935, + -1971.3158714415817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -742.9684487044401, + -1969.8158714415817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -740.3703724930867, + -1968.3158714415817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -737.7722962817334, + -1966.8158714415817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -735.17422007038, + -1965.3158714415817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -732.5761438590266, + -1963.8158714415817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -729.9780676476732, + -1962.3158714415817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -727.3799914363199, + -1960.8158714415817, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -727.3799914363199, + -1960.8158714415817, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -727.3799914363199, + -1960.8158714415817, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -724.7819152249665, + -1959.3158714415817, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -722.1838390136131, + -1957.8158714415817, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -719.5857628022598, + -1956.3158714415817, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -716.9876865909064, + -1954.8158714415817, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -714.389610379553, + -1953.3158714415817, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -711.7915341681996, + -1951.8158714415817, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -709.1934579568463, + -1950.3158714415817, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -706.5953817454929, + -1948.8158714415817, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -703.9973055341395, + -1947.3158714415817, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -701.3992293227861, + -1945.8158714415817, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -698.8011531114328, + -1944.3158714415817, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -696.2030769000794, + -1942.8158714415817, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -693.605000688726, + -1941.3158714415817, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -691.0069244773726, + -1939.8158714415817, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -688.4088482660193, + -1938.3158714415817, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -685.8107720546659, + -1936.8158714415817, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -683.2126958433125, + -1935.3158714415817, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -683.2126958433125, + -1935.3158714415817, + -204.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -683.2126958433125, + -1935.3158714415817, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -683.2126958433125, + -1935.3158714415817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -681.7126958433125, + -1932.7177952302284, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.047197551196588 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-33-51_669174/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-33-51_669174/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ece83d36107516d5e4a8aa408324f597c2e48b6e --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-33-51_669174/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -740.9983762604691, + -2042.6321831647406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -740.9983762604691, + -2039.6321831647406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -740.9983762604691, + -2036.6321831647406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -740.9983762604691, + -2033.6321831647406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -740.9983762604691, + -2030.6321831647406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -740.9983762604691, + -2027.6321831647406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -740.9983762604691, + -2024.6321831647406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -740.9983762604691, + -2021.6321831647406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -740.9983762604691, + -2018.6321831647406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -740.9983762604691, + -2015.6321831647406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -740.9983762604691, + -2012.6321831647406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -740.9983762604691, + -2009.6321831647406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -740.9983762604691, + -2006.6321831647406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -740.9983762604691, + -2003.6321831647406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -740.9983762604691, + -2000.6321831647406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -740.9983762604691, + -1997.6321831647406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -740.9983762604691, + -1994.6321831647406, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -740.9983762604691, + -1994.6321831647406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -739.4983762604691, + -1992.0341069533872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -737.9983762604691, + -1989.4360307420338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -736.4983762604691, + -1986.8379545306805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -734.9983762604691, + -1984.239878319327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -733.4983762604691, + -1981.6418021079737, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -731.9983762604691, + -1979.0437258966203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -730.4983762604691, + -1976.445649685267, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -728.9983762604691, + -1973.8475734739136, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -727.4983762604691, + -1971.2494972625602, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -725.9983762604691, + -1968.6514210512069, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -724.4983762604691, + -1966.0533448398535, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -722.9983762604691, + -1963.4552686285, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -722.9983762604691, + -1963.4552686285, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -722.9983762604691, + -1963.4552686285, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -721.4983762604691, + -1960.8571924171467, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -719.9983762604691, + -1958.2591162057934, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -718.4983762604691, + -1955.66103999444, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -716.9983762604691, + -1953.0629637830866, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -715.4983762604691, + -1950.4648875717332, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -713.9983762604691, + -1947.8668113603799, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -712.4983762604691, + -1945.2687351490265, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -710.9983762604691, + -1942.6706589376731, + -201.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -710.9983762604691, + -1942.6706589376731, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -710.9983762604691, + -1939.6706589376731, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -710.9983762604691, + -1936.6706589376731, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -710.9983762604691, + -1933.6706589376731, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -710.9983762604691, + -1930.6706589376731, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -710.9983762604691, + -1927.6706589376731, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -710.9983762604691, + -1924.6706589376731, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -710.9983762604691, + -1921.6706589376731, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -710.9983762604691, + -1921.6706589376731, + -204.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -710.9983762604691, + -1921.6706589376731, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-34-37_911201/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-34-37_911201/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a0b0a8123190bbdb50d569e1d89a110264561e90 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-34-37_911201/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -716.2871937521746, + -2054.250329261429, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -716.2871937521746, + -2051.250329261429, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -716.2871937521746, + -2048.250329261429, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -716.2871937521746, + -2045.2503292614292, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -716.2871937521746, + -2042.2503292614292, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -716.2871937521746, + -2039.2503292614292, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -716.2871937521746, + -2036.2503292614292, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -716.2871937521746, + -2033.2503292614292, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -716.2871937521746, + -2030.2503292614292, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -716.2871937521746, + -2027.2503292614292, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -716.2871937521746, + -2024.2503292614292, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -716.2871937521746, + -2021.2503292614292, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -716.2871937521746, + -2018.2503292614292, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -716.2871937521746, + -2015.2503292614292, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -716.2871937521746, + -2012.2503292614292, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -716.2871937521746, + -2009.2503292614292, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -716.2871937521746, + -2006.2503292614292, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -716.2871937521746, + -2003.2503292614292, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -716.2871937521746, + -2000.2503292614292, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -716.2871937521746, + -1997.2503292614292, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -716.2871937521746, + -1994.2503292614292, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -716.2871937521746, + -1991.2503292614292, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -716.2871937521746, + -1988.2503292614292, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -716.2871937521746, + -1985.2503292614292, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -716.2871937521746, + -1982.2503292614292, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -716.2871937521746, + -1979.2503292614292, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -716.2871937521746, + -1976.2503292614292, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -716.2871937521746, + -1973.2503292614292, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -716.2871937521746, + -1970.2503292614292, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -716.2871937521746, + -1967.2503292614292, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -716.2871937521746, + -1964.2503292614292, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -716.2871937521746, + -1964.2503292614292, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -716.2871937521746, + -1964.2503292614292, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -716.2871937521746, + -1961.2503292614292, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -716.2871937521746, + -1958.2503292614292, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -716.2871937521746, + -1955.2503292614292, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -716.2871937521746, + -1952.2503292614292, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -716.2871937521746, + -1949.2503292614292, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -716.2871937521746, + -1946.2503292614292, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -716.2871937521746, + -1943.2503292614292, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -716.2871937521746, + -1940.2503292614292, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -716.2871937521746, + -1937.2503292614292, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -716.2871937521746, + -1934.2503292614292, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -716.2871937521746, + -1931.2503292614292, + -201.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -716.2871937521746, + -1931.2503292614292, + -201.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -716.2871937521746, + -1931.2503292614292, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -713.6891175408214, + -1929.7503292614292, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -711.091041329468, + -1928.2503292614292, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -708.4929651181146, + -1926.7503292614292, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -705.8948889067613, + -1925.2503292614292, + -201.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -705.8948889067613, + -1925.2503292614292, + -201.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -705.8948889067613, + -1925.2503292614292, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.570796326794887 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -705.8948889067613, + -1922.2503292614292, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 1.570796326794887 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -705.8948889067613, + -1922.2503292614292, + -204.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.570796326794887 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-46-59_552570/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-46-59_552570/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5ba1365668161821c395e91419156ac0c9bfa06c --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-46-59_552570/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 238.08897483537703, + -1492.0539523443395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 238.08897483537703, + -1489.0539523443395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 238.08897483537703, + -1486.0539523443395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 238.08897483537703, + -1483.0539523443395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 238.08897483537703, + -1480.0539523443395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 238.08897483537703, + -1477.0539523443395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 238.08897483537703, + -1474.0539523443395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 238.08897483537703, + -1471.0539523443395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 238.08897483537703, + -1468.0539523443395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 238.08897483537703, + -1465.0539523443395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 238.08897483537703, + -1462.0539523443395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 238.08897483537703, + -1459.0539523443395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 238.08897483537703, + -1456.0539523443395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 238.08897483537703, + -1453.0539523443395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 238.08897483537703, + -1450.0539523443395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 238.08897483537703, + -1447.0539523443395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 238.08897483537703, + -1444.0539523443395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 238.08897483537703, + -1441.0539523443395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 238.08897483537703, + -1438.0539523443395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 238.08897483537703, + -1435.0539523443395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 238.08897483537703, + -1432.0539523443395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 238.08897483537703, + -1429.0539523443395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 238.08897483537703, + -1426.0539523443395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 238.08897483537703, + -1423.0539523443395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 238.08897483537703, + -1420.0539523443395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 238.08897483537703, + -1417.0539523443395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 238.08897483537703, + -1414.0539523443395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 238.08897483537703, + -1411.0539523443395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 238.08897483537703, + -1408.0539523443395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 238.08897483537703, + -1405.0539523443395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 238.08897483537703, + -1402.0539523443395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 238.08897483537703, + -1399.0539523443395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 238.08897483537703, + -1396.0539523443395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 238.08897483537703, + -1393.0539523443395, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 238.08897483537703, + -1393.0539523443395, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 238.08897483537703, + -1393.0539523443395, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 238.08897483537703, + -1390.0539523443395, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 238.08897483537703, + -1387.0539523443395, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 238.08897483537703, + -1384.0539523443395, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 238.08897483537703, + -1381.0539523443395, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 238.08897483537703, + -1378.0539523443395, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 238.08897483537703, + -1375.0539523443395, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 238.08897483537703, + -1372.0539523443395, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 238.08897483537703, + -1369.0539523443395, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 238.08897483537703, + -1366.0539523443395, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 238.08897483537703, + -1363.0539523443395, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 238.08897483537703, + -1360.0539523443395, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 238.08897483537703, + -1357.0539523443395, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 238.08897483537703, + -1354.0539523443395, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 238.08897483537703, + -1351.0539523443395, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 238.08897483537703, + -1348.0539523443395, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 238.08897483537703, + -1345.0539523443395, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 238.08897483537703, + -1342.0539523443395, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 238.08897483537703, + -1342.0539523443395, + -204.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 238.08897483537703, + -1342.0539523443395, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 238.08897483537703, + -1342.0539523443395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 239.58897483537703, + -1339.455876132986, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-50-19_613802/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-50-19_613802/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0e9c3fcdc95ecca0e33c51854122741b7d581bc0 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-50-19_613802/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 242.74797309006343, + -1474.0067733172161, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 242.74797309006343, + -1471.0067733172161, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 242.74797309006343, + -1468.0067733172161, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 242.74797309006343, + -1465.0067733172161, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 242.74797309006343, + -1462.0067733172161, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 242.74797309006343, + -1459.0067733172161, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 242.74797309006343, + -1456.0067733172161, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 242.74797309006343, + -1453.0067733172161, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 242.74797309006343, + -1450.0067733172161, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 242.74797309006343, + -1447.0067733172161, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 242.74797309006343, + -1444.0067733172161, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 242.74797309006343, + -1441.0067733172161, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 242.74797309006343, + -1438.0067733172161, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 242.74797309006343, + -1435.0067733172161, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 242.74797309006343, + -1432.0067733172161, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 242.74797309006343, + -1429.0067733172161, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 242.74797309006343, + -1426.0067733172161, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 242.74797309006343, + -1423.0067733172161, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 242.74797309006343, + -1420.0067733172161, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 242.74797309006343, + -1417.0067733172161, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 242.74797309006343, + -1414.0067733172161, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 242.74797309006343, + -1411.0067733172161, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 242.74797309006343, + -1408.0067733172161, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 242.74797309006343, + -1405.0067733172161, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 242.74797309006343, + -1402.0067733172161, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 242.74797309006343, + -1399.0067733172161, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 242.74797309006343, + -1396.0067733172161, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 242.74797309006343, + -1393.0067733172161, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 242.74797309006343, + -1393.0067733172161, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 242.74797309006343, + -1393.0067733172161, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 242.74797309006343, + -1390.0067733172161, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 242.74797309006343, + -1387.0067733172161, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 242.74797309006343, + -1384.0067733172161, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 242.74797309006343, + -1381.0067733172161, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 242.74797309006343, + -1378.0067733172161, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 242.74797309006343, + -1375.0067733172161, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 242.74797309006343, + -1372.0067733172161, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 242.74797309006343, + -1369.0067733172161, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 242.74797309006343, + -1366.0067733172161, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 242.74797309006343, + -1363.0067733172161, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 242.74797309006343, + -1360.0067733172161, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 242.74797309006343, + -1357.0067733172161, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 242.74797309006343, + -1354.0067733172161, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 242.74797309006343, + -1351.0067733172161, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 242.74797309006343, + -1348.0067733172161, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 242.74797309006343, + -1345.0067733172161, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 242.74797309006343, + -1342.0067733172161, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 242.74797309006343, + -1342.0067733172161, + -204.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 242.74797309006343, + -1342.0067733172161, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 242.74797309006343, + -1342.0067733172161, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 241.24797309006343, + -1339.4086971058628, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-52-46_693821/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-52-46_693821/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2f0dccaf8ede4c541ac07cc20b52e0249791d92b --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-52-46_693821/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -713.6251275325, + -2047.7588709857796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -713.6251275325, + -2044.7588709857796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -713.6251275325, + -2041.7588709857796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -713.6251275325, + -2038.7588709857796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -713.6251275325, + -2035.7588709857796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -713.6251275325, + -2032.7588709857796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -713.6251275325, + -2029.7588709857796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -713.6251275325, + -2026.7588709857796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -713.6251275325, + -2023.7588709857796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -713.6251275325, + -2020.7588709857796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -713.6251275325, + -2017.7588709857796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -713.6251275325, + -2014.7588709857796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -713.6251275325, + -2011.7588709857796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -713.6251275325, + -2008.7588709857796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -713.6251275325, + -2005.7588709857796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -713.6251275325, + -2002.7588709857796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -713.6251275325, + -1999.7588709857796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -713.6251275325, + -1996.7588709857796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -713.6251275325, + -1993.7588709857796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -713.6251275325, + -1990.7588709857796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -713.6251275325, + -1987.7588709857796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -713.6251275325, + -1984.7588709857796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -713.6251275325, + -1981.7588709857796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -713.6251275325, + -1978.7588709857796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -713.6251275325, + -1975.7588709857796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -713.6251275325, + -1972.7588709857796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -713.6251275325, + -1969.7588709857796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -713.6251275325, + -1966.7588709857796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -713.6251275325, + -1963.7588709857796, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -713.6251275325, + -1963.7588709857796, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -713.6251275325, + -1963.7588709857796, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -713.6251275325, + -1960.7588709857796, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -713.6251275325, + -1957.7588709857796, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -713.6251275325, + -1954.7588709857796, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -713.6251275325, + -1951.7588709857796, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -713.6251275325, + -1948.7588709857796, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -713.6251275325, + -1945.7588709857796, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -713.6251275325, + -1942.7588709857796, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -713.6251275325, + -1939.7588709857796, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -713.6251275325, + -1936.7588709857796, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -713.6251275325, + -1933.7588709857796, + -201.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -713.6251275325, + -1933.7588709857796, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -712.1251275325, + -1931.1607947744262, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -710.6251275325, + -1928.5627185630728, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -709.1251275325, + -1925.9646423517195, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -707.6251275325, + -1923.366566140366, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -706.1251275325, + -1920.7684899290127, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -706.1251275325, + -1920.7684899290127, + -204.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -706.1251275325, + -1920.7684899290127, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-53-31_753285/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-53-31_753285/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a53c5dbde33663a1ddbee3e81e1e861034a9da3f --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-53-31_753285/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -800.6299434922864, + -1984.400112780986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -798.031867280933, + -1982.900112780986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -795.4337910695797, + -1981.400112780986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -792.8357148582263, + -1979.900112780986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -790.2376386468729, + -1978.400112780986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -787.6395624355196, + -1976.900112780986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -785.0414862241662, + -1975.400112780986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -782.4434100128128, + -1973.900112780986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -779.8453338014594, + -1972.400112780986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -777.2472575901061, + -1970.900112780986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -774.6491813787527, + -1969.400112780986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -772.0511051673993, + -1967.900112780986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -769.453028956046, + -1966.400112780986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -766.8549527446926, + -1964.900112780986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -764.2568765333392, + -1963.400112780986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -761.6588003219858, + -1961.900112780986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -759.0607241106325, + -1960.400112780986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -756.4626478992791, + -1958.900112780986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -753.8645716879257, + -1957.400112780986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -751.2664954765723, + -1955.900112780986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -748.668419265219, + -1954.400112780986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -746.0703430538656, + -1952.900112780986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -743.4722668425122, + -1951.400112780986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -740.8741906311589, + -1949.900112780986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -738.2761144198055, + -1948.400112780986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -735.6780382084521, + -1946.900112780986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -733.0799619970987, + -1945.400112780986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -730.4818857857454, + -1943.900112780986, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -730.4818857857454, + -1943.900112780986, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -730.4818857857454, + -1943.900112780986, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -727.883809574392, + -1942.400112780986, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -725.2857333630386, + -1940.900112780986, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -722.6876571516852, + -1939.400112780986, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -720.0895809403319, + -1937.900112780986, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -717.4915047289785, + -1936.400112780986, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -714.8934285176251, + -1934.900112780986, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -712.2953523062718, + -1933.400112780986, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -709.6972760949184, + -1931.900112780986, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -707.099199883565, + -1930.400112780986, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -704.5011236722116, + -1928.900112780986, + -201.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -704.5011236722116, + -1928.900112780986, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -701.5011236722116, + -1928.900112780986, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -698.5011236722116, + -1928.900112780986, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -695.5011236722116, + -1928.900112780986, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -692.5011236722116, + -1928.900112780986, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -689.5011236722116, + -1928.900112780986, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -686.5011236722116, + -1928.900112780986, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -683.5011236722116, + -1928.900112780986, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -683.5011236722116, + -1928.900112780986, + -204.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -683.5011236722116, + -1928.900112780986, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -683.5011236722116, + -1928.900112780986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -680.9030474608583, + -1927.400112780986, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-54-21_779307/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-54-21_779307/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f3d6fad4cd792a31c4056532898e3027fd38ec17 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-54-21_779307/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -706.3416349748903, + -2055.3468850651093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -706.3416349748903, + -2052.3468850651093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -706.3416349748903, + -2049.3468850651093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -706.3416349748903, + -2046.3468850651093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -706.3416349748903, + -2043.3468850651093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -706.3416349748903, + -2040.3468850651093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -706.3416349748903, + -2037.3468850651093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -706.3416349748903, + -2034.3468850651093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -706.3416349748903, + -2031.3468850651093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -706.3416349748903, + -2028.3468850651093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -706.3416349748903, + -2025.3468850651093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -706.3416349748903, + -2022.3468850651093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -706.3416349748903, + -2019.3468850651093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -706.3416349748903, + -2016.3468850651093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -706.3416349748903, + -2013.3468850651093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -706.3416349748903, + -2010.3468850651093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -706.3416349748903, + -2007.3468850651093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -706.3416349748903, + -2004.3468850651093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -706.3416349748903, + -2001.3468850651093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -706.3416349748903, + -1998.3468850651093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -706.3416349748903, + -1995.3468850651093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -706.3416349748903, + -1992.3468850651093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -706.3416349748903, + -1989.3468850651093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -706.3416349748903, + -1986.3468850651093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -706.3416349748903, + -1983.3468850651093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -706.3416349748903, + -1980.3468850651093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -706.3416349748903, + -1977.3468850651093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -706.3416349748903, + -1974.3468850651093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -706.3416349748903, + -1971.3468850651093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -706.3416349748903, + -1968.3468850651093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -706.3416349748903, + -1965.3468850651093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -706.3416349748903, + -1962.3468850651093, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -706.3416349748903, + -1962.3468850651093, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -706.3416349748903, + -1962.3468850651093, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -706.3416349748903, + -1959.3468850651093, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -706.3416349748903, + -1956.3468850651093, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -706.3416349748903, + -1953.3468850651093, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -706.3416349748903, + -1950.3468850651093, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -706.3416349748903, + -1947.3468850651093, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -706.3416349748903, + -1944.3468850651093, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -706.3416349748903, + -1941.3468850651093, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -706.3416349748903, + -1938.3468850651093, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -706.3416349748903, + -1935.3468850651093, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -706.3416349748903, + -1932.3468850651093, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -706.3416349748903, + -1929.3468850651093, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -706.3416349748903, + -1926.3468850651093, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -706.3416349748903, + -1923.3468850651093, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -706.3416349748903, + -1920.3468850651093, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -706.3416349748903, + -1920.3468850651093, + -204.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -706.3416349748903, + -1920.3468850651093, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-19_01-12-43_721540/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-19_01-12-43_721540/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5762ca3117a1349c1af78f5659c9bcfd8b285502 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-19_01-12-43_721540/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -789.9062974919186, + -2004.622496287303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -787.3082212805652, + -2003.122496287303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -784.7101450692119, + -2001.622496287303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -782.1120688578585, + -2000.122496287303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -779.5139926465051, + -1998.622496287303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -776.9159164351518, + -1997.122496287303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -774.3178402237984, + -1995.622496287303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -771.719764012445, + -1994.122496287303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -769.1216878010916, + -1992.622496287303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -766.5236115897383, + -1991.122496287303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -763.9255353783849, + -1989.622496287303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -761.3274591670315, + -1988.122496287303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -758.7293829556781, + -1986.622496287303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -756.1313067443248, + -1985.122496287303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -753.5332305329714, + -1983.622496287303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -750.935154321618, + -1982.122496287303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -748.3370781102647, + -1980.622496287303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -745.7390018989113, + -1979.122496287303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -743.1409256875579, + -1977.622496287303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -740.5428494762045, + -1976.122496287303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -737.9447732648512, + -1974.622496287303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -735.3466970534978, + -1973.122496287303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -732.7486208421444, + -1971.622496287303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -730.150544630791, + -1970.122496287303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -727.5524684194377, + -1968.622496287303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -724.9543922080843, + -1967.122496287303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -722.3563159967309, + -1965.622496287303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -719.7582397853776, + -1964.122496287303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -717.1601635740242, + -1962.622496287303, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -717.1601635740242, + -1962.622496287303, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -717.1601635740242, + -1962.622496287303, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -714.5620873626708, + -1961.122496287303, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -711.9640111513174, + -1959.622496287303, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -709.3659349399641, + -1958.122496287303, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -706.7678587286107, + -1956.622496287303, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -704.1697825172573, + -1955.122496287303, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -701.571706305904, + -1953.622496287303, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -698.9736300945506, + -1952.122496287303, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -696.3755538831972, + -1950.622496287303, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -693.7774776718438, + -1949.122496287303, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -691.1794014604905, + -1947.622496287303, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -688.5813252491371, + -1946.122496287303, + -201.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -688.5813252491371, + -1946.122496287303, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -687.0813252491371, + -1943.5244200759496, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -685.5813252491371, + -1940.9263438645962, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -684.0813252491371, + -1938.3282676532428, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -682.5813252491371, + -1935.7301914418895, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -682.5813252491371, + -1935.7301914418895, + -204.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -682.5813252491371, + -1935.7301914418895, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -681.0813252491371, + -1933.132115230536, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-11-46_677870460/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-11-46_677870460/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..509963e97b98c839957111efc1e5478775592ecf --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-11-46_677870460/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 369.93155193956625, + -1461.5972812565165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 367.33347572821293, + -1463.0972812565165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 364.7353995168596, + -1464.5972812565165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 362.1373233055063, + -1466.0972812565165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 359.539247094153, + -1467.5972812565165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 356.94117088279967, + -1469.0972812565165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 354.34309467144635, + -1470.5972812565165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 351.74501846009304, + -1472.0972812565165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 349.1469422487397, + -1473.5972812565165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 346.5488660373864, + -1475.0972812565165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 343.9507898260331, + -1476.5972812565165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 341.35271361467977, + -1478.0972812565165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 338.75463740332646, + -1479.5972812565165, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 338.75463740332646, + -1479.5972812565165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 335.75463740332646, + -1479.5972812565165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 332.75463740332646, + -1479.5972812565165, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 332.75463740332646, + -1479.5972812565165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 330.15656119197314, + -1481.0972812565165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 327.5584849806198, + -1482.5972812565165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 324.9604087692665, + -1484.0972812565165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 322.3623325579132, + -1485.5972812565165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 319.7642563465599, + -1487.0972812565165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 317.16618013520656, + -1488.5972812565165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 314.56810392385324, + -1490.0972812565165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 311.9700277124999, + -1491.5972812565165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 309.3719515011466, + -1493.0972812565165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 306.7738752897933, + -1494.5972812565165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 304.17579907844, + -1496.0972812565165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 301.57772286708666, + -1497.5972812565165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 298.97964665573335, + -1499.0972812565165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 296.38157044438003, + -1500.5972812565165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 293.7834942330267, + -1502.0972812565165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 291.1854180216734, + -1503.5972812565165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 288.5873418103201, + -1505.0972812565165, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 288.5873418103201, + -1505.0972812565165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 287.0873418103201, + -1507.6953574678698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 285.5873418103201, + -1510.2934336792232, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 284.0873418103201, + -1512.8915098905766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 282.5873418103201, + -1515.48958610193, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 281.0873418103201, + -1518.0876623132833, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 279.5873418103201, + -1520.6857385246367, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 278.0873418103201, + -1523.28381473599, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 276.5873418103201, + -1525.8818909473434, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 275.0873418103201, + -1528.4799671586968, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 273.5873418103201, + -1531.0780433700502, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 272.0873418103201, + -1533.6761195814036, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 270.5873418103201, + -1536.274195792757, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 270.5873418103201, + -1536.274195792757, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 267.98926559896677, + -1537.774195792757, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 265.39118938761345, + -1539.274195792757, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 262.79311317626014, + -1540.774195792757, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1560.0, + -206.55 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-18-14_1395132002/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-18-14_1395132002/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3e4dac88b8fb062f02b3a72c3cde0487fc91a45f --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-18-14_1395132002/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 319.5766276484215, + -1470.3573005860126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 318.0766276484215, + -1467.7592243746592, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 316.5766276484215, + -1465.1611481633058, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 315.0766276484215, + -1462.5630719519525, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 313.5766276484215, + -1459.964995740599, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 312.0766276484215, + -1457.3669195292457, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 310.5766276484215, + -1454.7688433178923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 309.0766276484215, + -1452.170767106539, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 307.5766276484215, + -1449.5726908951856, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 306.0766276484215, + -1446.9746146838322, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 304.5766276484215, + -1444.3765384724788, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 303.0766276484215, + -1441.7784622611255, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 301.5766276484215, + -1439.180386049772, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 300.0766276484215, + -1436.5823098384187, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 298.5766276484215, + -1433.9842336270654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 297.0766276484215, + -1431.386157415712, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 295.5766276484215, + -1428.7880812043586, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 294.0766276484215, + -1426.1900049930052, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 292.5766276484215, + -1423.5919287816519, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 291.0766276484215, + -1420.9938525702985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 289.5766276484215, + -1418.395776358945, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 288.0766276484215, + -1415.7977001475917, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 286.5766276484215, + -1413.1996239362384, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 285.0766276484215, + -1410.601547724885, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 283.5766276484215, + -1408.0034715135316, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 282.0766276484215, + -1405.4053953021782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 280.5766276484215, + -1402.8073190908249, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 279.0766276484215, + -1400.2092428794715, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 277.5766276484215, + -1397.6111666681181, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 276.0766276484215, + -1395.0130904567648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 274.5766276484215, + -1392.4150142454114, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 273.0766276484215, + -1389.816938034058, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 271.5766276484215, + -1387.2188618227046, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 270.0766276484215, + -1384.6207856113513, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 268.5766276484215, + -1382.022709399998, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 267.0766276484215, + -1379.4246331886445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 265.5766276484215, + -1376.8265569772911, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 264.0766276484215, + -1374.2284807659378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 262.5766276484215, + -1371.6304045545844, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 262.5766276484215, + -1371.6304045545844, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 262.5766276484215, + -1368.6304045545844, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 262.5766276484215, + -1365.6304045545844, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 262.5766276484215, + -1362.6304045545844, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 262.5766276484215, + -1359.6304045545844, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 262.5766276484215, + -1356.6304045545844, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 262.5766276484215, + -1356.6304045545844, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 261.0766276484215, + -1354.032328343231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 259.5766276484215, + -1351.4342521318777, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 258.0766276484215, + -1348.8361759205243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 256.5766276484215, + -1346.238099709171, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 255.0766276484215, + -1343.6400234978175, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 253.5766276484215, + -1341.0419472864642, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 252.0766276484215, + -1338.4438710751108, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-27-35_328298285/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-27-35_328298285/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3166c39f9072a3591a6dab9cb4d3d791a578545e --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-27-35_328298285/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -670.2849300173554, + -2059.290318114484, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -670.2849300173554, + -2056.290318114484, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -670.2849300173554, + -2053.290318114484, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -670.2849300173554, + -2050.290318114484, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -670.2849300173554, + -2047.2903181144839, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -670.2849300173554, + -2044.2903181144839, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -670.2849300173554, + -2041.2903181144839, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -670.2849300173554, + -2038.2903181144839, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -670.2849300173554, + -2035.2903181144839, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -670.2849300173554, + -2032.2903181144839, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -670.2849300173554, + -2029.2903181144839, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -670.2849300173554, + -2026.2903181144839, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -670.2849300173554, + -2023.2903181144839, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -670.2849300173554, + -2020.2903181144839, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -670.2849300173554, + -2017.2903181144839, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -670.2849300173554, + -2014.2903181144839, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -670.2849300173554, + -2011.2903181144839, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -670.2849300173554, + -2008.2903181144839, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -670.2849300173554, + -2005.2903181144839, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -670.2849300173554, + -2002.2903181144839, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -670.2849300173554, + -1999.2903181144839, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -670.2849300173554, + -1996.2903181144839, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -670.2849300173554, + -1993.2903181144839, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -670.2849300173554, + -1990.2903181144839, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -670.2849300173554, + -1987.2903181144839, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -670.2849300173554, + -1984.2903181144839, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -670.2849300173554, + -1981.2903181144839, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -670.2849300173554, + -1978.2903181144839, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -670.2849300173554, + -1975.2903181144839, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -670.2849300173554, + -1972.2903181144839, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -670.2849300173554, + -1969.2903181144839, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -670.2849300173554, + -1966.2903181144839, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -670.2849300173554, + -1963.2903181144839, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -670.2849300173554, + -1960.2903181144839, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -670.2849300173554, + -1960.2903181144839, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -671.7849300173554, + -1957.6922419031305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -673.2849300173554, + -1955.094165691777, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -674.7849300173554, + -1952.4960894804237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -676.2849300173554, + -1949.8980132690704, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -677.7849300173554, + -1947.299937057717, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -679.2849300173554, + -1944.7018608463636, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -680.7849300173554, + -1942.1037846350102, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -682.2849300173554, + -1939.5057084236569, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -683.7849300173554, + -1936.9076322123035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -685.2849300173554, + -1934.3095560009501, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -686.7849300173554, + -1931.7114797895968, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -688.2849300173554, + -1929.1134035782434, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -689.7849300173554, + -1926.51532736689, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -691.2849300173554, + -1923.9172511555366, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -691.2849300173554, + -1923.9172511555366, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -693.8830062287086, + -1922.4172511555366, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -696.481082440062, + -1920.9172511555366, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991485 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-28-3_70636429/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-28-3_70636429/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..79c1c12f543cb448abace9e2b3be5ff04220f648 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-28-3_70636429/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 377.22491187866524, + -1386.5199228115687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 374.6268356673119, + -1385.0199228115687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 372.0287594559586, + -1383.5199228115687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 369.4306832446053, + -1382.0199228115687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 366.832607033252, + -1380.5199228115687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 364.23453082189866, + -1379.0199228115687, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 364.23453082189866, + -1379.0199228115687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 361.23453082189866, + -1379.0199228115687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 358.23453082189866, + -1379.0199228115687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 355.23453082189866, + -1379.0199228115687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 352.23453082189866, + -1379.0199228115687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 349.23453082189866, + -1379.0199228115687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 346.23453082189866, + -1379.0199228115687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 343.23453082189866, + -1379.0199228115687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 340.23453082189866, + -1379.0199228115687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 337.23453082189866, + -1379.0199228115687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 334.23453082189866, + -1379.0199228115687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 331.23453082189866, + -1379.0199228115687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 328.23453082189866, + -1379.0199228115687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 325.23453082189866, + -1379.0199228115687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 322.23453082189866, + -1379.0199228115687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 319.23453082189866, + -1379.0199228115687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 316.23453082189866, + -1379.0199228115687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 313.23453082189866, + -1379.0199228115687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 310.23453082189866, + -1379.0199228115687, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 310.23453082189866, + -1379.0199228115687, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 310.23453082189866, + -1379.0199228115687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 308.73453082189866, + -1376.4218466002153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 307.23453082189866, + -1373.823770388862, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 305.73453082189866, + -1371.2256941775086, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 304.23453082189866, + -1368.6276179661552, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 302.73453082189866, + -1366.0295417548018, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 301.23453082189866, + -1363.4314655434484, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 299.73453082189866, + -1360.833389332095, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 298.23453082189866, + -1358.2353131207417, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 296.73453082189866, + -1355.6372369093883, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 295.23453082189866, + -1353.039160698035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 293.73453082189866, + -1350.4410844866816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 292.23453082189866, + -1347.8430082753282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 290.73453082189866, + -1345.2449320639748, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 289.23453082189866, + -1342.6468558526215, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 289.23453082189866, + -1342.6468558526215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 286.63645461054534, + -1341.1468558526215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 284.038378399192, + -1339.6468558526215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 281.4403021878387, + -1338.1468558526215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 278.8422259764854, + -1336.6468558526215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 276.2441497651321, + -1335.1468558526215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 273.64607355377876, + -1333.6468558526215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 271.04799734242545, + -1332.1468558526215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 268.44992113107213, + -1330.6468558526215, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-33-6_561717988/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-33-6_561717988/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dcb58d4e5587854e29f789bdbfb0babf4369edeb --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-33-6_561717988/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -785.7297140307579, + -2028.0968097386178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -783.1316378194047, + -2026.5968097386178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -780.5335616080513, + -2025.0968097386178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -777.9354853966979, + -2023.5968097386178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -775.3374091853445, + -2022.0968097386178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -772.7393329739912, + -2020.5968097386178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -770.1412567626378, + -2019.0968097386178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -767.5431805512844, + -2017.5968097386178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -764.945104339931, + -2016.0968097386178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -762.3470281285777, + -2014.5968097386178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -759.7489519172243, + -2013.0968097386178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -757.1508757058709, + -2011.5968097386178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -754.5527994945176, + -2010.0968097386178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -751.9547232831642, + -2008.5968097386178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -749.3566470718108, + -2007.0968097386178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -746.7585708604574, + -2005.5968097386178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -744.1604946491041, + -2004.0968097386178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -741.5624184377507, + -2002.5968097386178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -738.9643422263973, + -2001.0968097386178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -736.366266015044, + -1999.5968097386178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -733.7681898036906, + -1998.0968097386178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -731.1701135923372, + -1996.5968097386178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -728.5720373809838, + -1995.0968097386178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -725.9739611696305, + -1993.5968097386178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -723.3758849582771, + -1992.0968097386178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -720.7778087469237, + -1990.5968097386178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -718.1797325355703, + -1989.0968097386178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -715.581656324217, + -1987.5968097386178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -712.9835801128636, + -1986.0968097386178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -710.3855039015102, + -1984.5968097386178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -707.7874276901568, + -1983.0968097386178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -705.1893514788035, + -1981.5968097386178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -702.5912752674501, + -1980.0968097386178, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -702.5912752674501, + -1980.0968097386178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -701.0912752674501, + -1977.4987335272644, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -699.5912752674501, + -1974.900657315911, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -698.0912752674501, + -1972.3025811045577, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -696.5912752674501, + -1969.7045048932043, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -695.0912752674501, + -1967.106428681851, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -693.5912752674501, + -1964.5083524704976, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -692.0912752674501, + -1961.9102762591442, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -690.5912752674501, + -1959.3122000477908, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -689.0912752674501, + -1956.7141238364375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -687.5912752674501, + -1954.116047625084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -686.0912752674501, + -1951.5179714137307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -684.5912752674501, + -1948.9198952023773, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -683.0912752674501, + -1946.321818991024, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -681.5912752674501, + -1943.7237427796706, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -680.0912752674501, + -1941.1256665683172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -678.5912752674501, + -1938.5275903569639, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-35-30_1433102829/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-35-30_1433102829/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..83c36f72863567893205a5d21fce152d945851e0 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-35-30_1433102829/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -801.7397350788349, + -2041.3489854724237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -800.2397350788349, + -2038.7509092610703, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -798.7397350788349, + -2036.152833049717, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -797.2397350788349, + -2033.5547568383636, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -795.7397350788349, + -2030.9566806270102, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -794.2397350788349, + -2028.3586044156568, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -792.7397350788349, + -2025.7605282043035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -791.2397350788349, + -2023.16245199295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -789.7397350788349, + -2020.5643757815967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -788.2397350788349, + -2017.9662995702433, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -786.7397350788349, + -2015.36822335889, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -785.2397350788349, + -2012.7701471475366, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -783.7397350788349, + -2010.1720709361832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -782.2397350788349, + -2007.5739947248298, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -780.7397350788349, + -2004.9759185134765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -779.2397350788349, + -2002.377842302123, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -777.7397350788349, + -1999.7797660907697, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -776.2397350788349, + -1997.1816898794164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -774.7397350788349, + -1994.583613668063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -773.2397350788349, + -1991.9855374567096, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -771.7397350788349, + -1989.3874612453562, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -770.2397350788349, + -1986.7893850340029, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -768.7397350788349, + -1984.1913088226495, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -767.2397350788349, + -1981.5932326112961, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -765.7397350788349, + -1978.9951563999427, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -764.2397350788349, + -1976.3970801885894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -762.7397350788349, + -1973.799003977236, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -761.2397350788349, + -1971.2009277658826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -759.7397350788349, + -1968.6028515545293, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -758.2397350788349, + -1966.0047753431759, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -756.7397350788349, + -1963.4066991318225, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -755.2397350788349, + -1960.8086229204691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -753.7397350788349, + -1958.2105467091158, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -752.2397350788349, + -1955.6124704977624, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -750.7397350788349, + -1953.014394286409, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -749.2397350788349, + -1950.4163180750556, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -747.7397350788349, + -1947.8182418637023, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -746.2397350788349, + -1945.220165652349, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -744.7397350788349, + -1942.6220894409955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -743.2397350788349, + -1940.0240132296422, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -741.7397350788349, + -1937.4259370182888, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -740.2397350788349, + -1934.8278608069354, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -738.7397350788349, + -1932.229784595582, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -737.2397350788349, + -1929.6317083842287, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -737.2397350788349, + -1929.6317083842287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -734.6416588674815, + -1928.1317083842287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -732.0435826561281, + -1926.6317083842287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -729.4455064447748, + -1925.1317083842287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -726.8474302334214, + -1923.6317083842287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -724.249354022068, + -1922.1317083842287, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-44-27_500618996/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-44-27_500618996/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..812c538de23682d9dd9bbf4f5ed46aaa195947e1 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-44-27_500618996/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -53.00484338218436, + -1444.778387325032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -55.60291959353768, + -1446.278387325032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -58.200995804890994, + -1447.778387325032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -60.79907201624431, + -1449.278387325032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -63.397148227597626, + -1450.778387325032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -65.99522443895094, + -1452.278387325032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -68.59330065030426, + -1453.778387325032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -71.19137686165757, + -1455.278387325032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -73.78945307301089, + -1456.778387325032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -76.3875292843642, + -1458.278387325032, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -76.3875292843642, + -1458.278387325032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -77.8875292843642, + -1460.8764635363855, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -79.3875292843642, + -1463.4745397477388, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -80.8875292843642, + -1466.0726159590922, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -82.3875292843642, + -1468.6706921704456, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -83.8875292843642, + -1471.268768381799, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -85.3875292843642, + -1473.8668445931523, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -86.8875292843642, + -1476.4649208045057, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -88.3875292843642, + -1479.062997015859, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -89.8875292843642, + -1481.6610732272125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -91.3875292843642, + -1484.2591494385658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -92.8875292843642, + -1486.8572256499192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -94.3875292843642, + -1489.4553018612726, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -95.8875292843642, + -1492.053378072626, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -97.3875292843642, + -1494.6514542839793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -98.8875292843642, + -1497.2495304953327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -100.3875292843642, + -1499.847606706686, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -101.8875292843642, + -1502.4456829180394, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -101.8875292843642, + -1502.4456829180394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -104.48560549571752, + -1503.9456829180394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -107.08368170707084, + -1505.4456829180394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -109.68175791842415, + -1506.9456829180394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -112.27983412977747, + -1508.4456829180394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -114.87791034113079, + -1509.9456829180394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -117.4759865524841, + -1511.4456829180394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -120.07406276383742, + -1512.9456829180394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -122.67213897519073, + -1514.4456829180394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -125.27021518654405, + -1515.9456829180394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -127.86829139789737, + -1517.4456829180394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -130.46636760925068, + -1518.9456829180394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -133.064443820604, + -1520.4456829180394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -135.6625200319573, + -1521.9456829180394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -138.26059624331063, + -1523.4456829180394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -140.85867245466395, + -1524.9456829180394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -143.45674866601726, + -1526.4456829180394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -146.05482487737058, + -1527.9456829180394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -148.6529010887239, + -1529.4456829180394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -151.2509773000772, + -1530.9456829180394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -153.84905351143053, + -1532.4456829180394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -156.44712972278384, + -1533.9456829180394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -159.04520593413716, + -1535.4456829180394, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -159.04520593413716, + -1535.4456829180394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -160.54520593413716, + -1538.0437591293928, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -162.04520593413716, + -1540.6418353407462, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-19-23_993967637/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-19-23_993967637/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aea0eed371a1ea02e752df392557effb8164c054 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-19-23_993967637/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 367.40246199543685, + -1470.2373803805674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 364.80438578408354, + -1471.7373803805674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 362.2063095727302, + -1473.2373803805674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 359.6082333613769, + -1474.7373803805674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 357.0101571500236, + -1476.2373803805674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 354.4120809386703, + -1477.7373803805674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 351.81400472731696, + -1479.2373803805674, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 351.81400472731696, + -1479.2373803805674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 348.81400472731696, + -1479.2373803805674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 345.81400472731696, + -1479.2373803805674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 342.81400472731696, + -1479.2373803805674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 339.81400472731696, + -1479.2373803805674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 336.81400472731696, + -1479.2373803805674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 333.81400472731696, + -1479.2373803805674, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 333.81400472731696, + -1479.2373803805674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 331.21592851596364, + -1480.7373803805674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 328.6178523046103, + -1482.2373803805674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 326.019776093257, + -1483.7373803805674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 323.4216998819037, + -1485.2373803805674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 320.8236236705504, + -1486.7373803805674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 318.22554745919706, + -1488.2373803805674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 315.62747124784374, + -1489.7373803805674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 313.0293950364904, + -1491.2373803805674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 310.4313188251371, + -1492.7373803805674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 307.8332426137838, + -1494.2373803805674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 305.2351664024305, + -1495.7373803805674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 302.63709019107716, + -1497.2373803805674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 300.03901397972385, + -1498.7373803805674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 297.44093776837053, + -1500.2373803805674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 294.8428615570172, + -1501.7373803805674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 292.2447853456639, + -1503.2373803805674, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 292.2447853456639, + -1503.2373803805674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 290.7447853456639, + -1505.8354565919208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 289.2447853456639, + -1508.4335328032741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 287.7447853456639, + -1511.0316090146275, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 286.2447853456639, + -1513.629685225981, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 284.7447853456639, + -1516.2277614373343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 283.2447853456639, + -1518.8258376486876, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 281.7447853456639, + -1521.423913860041, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 280.2447853456639, + -1524.0219900713944, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 278.7447853456639, + -1526.6200662827478, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 277.2447853456639, + -1529.2181424941011, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 275.7447853456639, + -1531.8162187054545, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 274.2447853456639, + -1534.4142949168079, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 272.7447853456639, + -1537.0123711281612, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 271.2447853456639, + -1539.6104473395146, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 269.7447853456639, + -1542.208523550868, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 269.7447853456639, + -1542.208523550868, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 269.7447853456639, + -1542.208523550868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897833 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 266.7447853456639, + -1542.208523550868, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -3.1415926535897833 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1560.0, + -206.55 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-26-49_394633074/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-26-49_394633074/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9ec7e2c64db90c5cd142e3e0be977a6c3caa65f1 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-26-49_394633074/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -99.45753940912118, + -1497.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -102.45753940912118, + -1497.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -105.45753940912118, + -1497.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -108.45753940912118, + -1497.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -111.45753940912118, + -1497.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -114.45753940912118, + -1497.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -117.45753940912118, + -1497.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -120.45753940912118, + -1497.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -123.45753940912118, + -1497.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -126.45753940912118, + -1497.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -129.45753940912118, + -1497.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -132.45753940912118, + -1497.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -135.45753940912118, + -1497.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -138.45753940912118, + -1497.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -141.45753940912118, + -1497.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -144.45753940912118, + -1497.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -147.45753940912118, + -1497.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -150.45753940912118, + -1497.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -153.45753940912118, + -1497.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -156.45753940912118, + -1497.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -159.45753940912118, + -1497.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -162.45753940912118, + -1497.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -165.45753940912118, + -1497.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -168.45753940912118, + -1497.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -171.45753940912118, + -1497.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -174.45753940912118, + -1497.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -177.45753940912118, + -1497.4558877958832, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -177.45753940912118, + -1497.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -180.0556156204745, + -1495.9558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -182.6536918318278, + -1494.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -185.25176804318113, + -1492.9558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -187.84984425453445, + -1491.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -190.44792046588776, + -1489.9558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -193.04599667724108, + -1488.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -195.6440728885944, + -1486.9558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -198.2421490999477, + -1485.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -200.84022531130103, + -1483.9558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -203.43830152265434, + -1482.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -206.03637773400766, + -1480.9558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -208.63445394536097, + -1479.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -211.2325301567143, + -1477.9558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -213.8306063680676, + -1476.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -216.42868257942092, + -1474.9558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -219.02675879077424, + -1473.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -221.62483500212755, + -1471.9558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -224.22291121348087, + -1470.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -226.8209874248342, + -1468.9558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -229.4190636361875, + -1467.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -232.01713984754082, + -1465.9558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -234.61521605889413, + -1464.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -237.21329227024745, + -1462.9558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -239.81136848160077, + -1461.4558877958832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -242.40944469295408, + -1459.9558877958832, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-27-18_983631233/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-27-18_983631233/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f05babae01cc2bcc1087ead371c549ea60e0b479 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-27-18_983631233/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -646.5611399582798, + -2046.5764979641033, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -648.0611399582798, + -2043.97842175275, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -649.5611399582798, + -2041.3803455413965, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -651.0611399582798, + -2038.7822693300432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -652.5611399582798, + -2036.1841931186898, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -654.0611399582798, + -2033.5861169073364, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -655.5611399582798, + -2030.988040695983, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -657.0611399582798, + -2028.3899644846297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -658.5611399582798, + -2025.7918882732763, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -660.0611399582798, + -2023.193812061923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -661.5611399582798, + -2020.5957358505696, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -663.0611399582798, + -2017.9976596392162, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -664.5611399582798, + -2015.3995834278628, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -666.0611399582798, + -2012.8015072165094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -667.5611399582798, + -2010.203431005156, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -669.0611399582798, + -2007.6053547938027, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -670.5611399582798, + -2005.0072785824493, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -672.0611399582798, + -2002.409202371096, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -673.5611399582798, + -1999.8111261597426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -675.0611399582798, + -1997.2130499483892, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -676.5611399582798, + -1994.6149737370358, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -678.0611399582798, + -1992.0168975256825, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -679.5611399582798, + -1989.418821314329, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -681.0611399582798, + -1986.8207451029757, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -682.5611399582798, + -1984.2226688916223, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -684.0611399582798, + -1981.624592680269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -685.5611399582798, + -1979.0265164689156, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -687.0611399582798, + -1976.4284402575622, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -687.0611399582798, + -1976.4284402575622, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -687.0611399582798, + -1973.4284402575622, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -687.0611399582798, + -1970.4284402575622, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -687.0611399582798, + -1967.4284402575622, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -687.0611399582798, + -1964.4284402575622, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -687.0611399582798, + -1961.4284402575622, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -687.0611399582798, + -1958.4284402575622, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -687.0611399582798, + -1955.4284402575622, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -687.0611399582798, + -1952.4284402575622, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -687.0611399582798, + -1949.4284402575622, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -687.0611399582798, + -1946.4284402575622, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -687.0611399582798, + -1943.4284402575622, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -687.0611399582798, + -1940.4284402575622, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -687.0611399582798, + -1937.4284402575622, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -687.0611399582798, + -1934.4284402575622, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -687.0611399582798, + -1931.4284402575622, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -687.0611399582798, + -1928.4284402575622, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -687.0611399582798, + -1928.4284402575622, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -688.5611399582798, + -1925.8303640462088, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -690.0611399582798, + -1923.2322878348555, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -691.5611399582798, + -1920.634211623502, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-30-12_2069110699/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-30-12_2069110699/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e06f51805981b1355dd8c9d727b39599c3b71bac --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-30-12_2069110699/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -670.2923044552399, + -1784.0667477402972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -670.2923044552399, + -1787.0667477402972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -670.2923044552399, + -1790.0667477402972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -670.2923044552399, + -1793.0667477402972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -670.2923044552399, + -1796.0667477402972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -670.2923044552399, + -1799.0667477402972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -670.2923044552399, + -1802.0667477402972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -670.2923044552399, + -1805.0667477402972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -670.2923044552399, + -1808.0667477402972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -670.2923044552399, + -1811.0667477402972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -670.2923044552399, + -1814.0667477402972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -670.2923044552399, + -1817.0667477402972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -670.2923044552399, + -1820.0667477402972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -670.2923044552399, + -1823.0667477402972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -670.2923044552399, + -1826.0667477402972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -670.2923044552399, + -1829.0667477402972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -670.2923044552399, + -1832.0667477402972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -670.2923044552399, + -1835.0667477402972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -670.2923044552399, + -1838.0667477402972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -670.2923044552399, + -1841.0667477402972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -670.2923044552399, + -1844.0667477402972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -670.2923044552399, + -1847.0667477402972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -670.2923044552399, + -1850.0667477402972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -670.2923044552399, + -1853.0667477402972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -670.2923044552399, + -1856.0667477402972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -670.2923044552399, + -1859.0667477402972, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -670.2923044552399, + -1859.0667477402972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -671.7923044552399, + -1861.6648239516505, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -673.2923044552399, + -1864.262900163004, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -674.7923044552399, + -1866.8609763743573, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -676.2923044552399, + -1869.4590525857107, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -677.7923044552399, + -1872.057128797064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -679.2923044552399, + -1874.6552050084174, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -680.7923044552399, + -1877.2532812197708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -682.2923044552399, + -1879.8513574311241, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -683.7923044552399, + -1882.4494336424775, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -685.2923044552399, + -1885.047509853831, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -686.7923044552399, + -1887.6455860651843, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -688.2923044552399, + -1890.2436622765376, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -689.7923044552399, + -1892.841738487891, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -691.2923044552399, + -1895.4398146992444, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -692.7923044552399, + -1898.0378909105978, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -694.2923044552399, + -1900.6359671219511, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -695.7923044552399, + -1903.2340433333045, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -697.2923044552399, + -1905.8321195446579, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -698.7923044552399, + -1908.4301957560112, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -700.2923044552399, + -1911.0282719673646, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -701.7923044552399, + -1913.626348178718, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -703.2923044552399, + -1916.2244243900714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -704.7923044552399, + -1918.8225006014247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -706.2923044552399, + -1921.420576812778, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -712.0, + -1940.0, + -205.963 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-39-58_1280631491/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-39-58_1280631491/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..56dbbb9d6d7c10e0a95e4e4db1577ecf030bd931 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-39-58_1280631491/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -293.25229350939, + -1437.4413231147453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -291.75229350939, + -1440.0393993260986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -290.25229350939, + -1442.637475537452, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -288.75229350939, + -1445.2355517488054, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -287.25229350939, + -1447.8336279601588, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -285.75229350939, + -1450.4317041715121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -284.25229350939, + -1453.0297803828655, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -282.75229350939, + -1455.6278565942189, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -281.25229350939, + -1458.2259328055723, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -279.75229350939, + -1460.8240090169256, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -278.25229350939, + -1463.422085228279, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -276.75229350939, + -1466.0201614396324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -275.25229350939, + -1468.6182376509857, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -273.75229350939, + -1471.2163138623391, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -272.25229350939, + -1473.8143900736925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -270.75229350939, + -1476.4124662850459, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -269.25229350939, + -1479.0105424963992, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -267.75229350939, + -1481.6086187077526, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -266.25229350939, + -1484.206694919106, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -264.75229350939, + -1486.8047711304594, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -263.25229350939, + -1489.4028473418127, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -261.75229350939, + -1492.000923553166, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -260.25229350939, + -1494.5989997645195, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -258.75229350939, + -1497.1970759758728, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -257.25229350939, + -1499.7951521872262, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -255.75229350938997, + -1502.3932283985796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -254.25229350938997, + -1504.991304609933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -252.75229350938997, + -1507.5893808212863, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -251.25229350938997, + -1510.1874570326397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -249.75229350938997, + -1512.785533243993, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -249.75229350938997, + -1512.785533243993, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -247.15421729803666, + -1514.285533243993, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -244.55614108668334, + -1515.785533243993, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -241.95806487533002, + -1517.285533243993, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -239.3599886639767, + -1518.785533243993, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -236.7619124526234, + -1520.285533243993, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -234.16383624127008, + -1521.785533243993, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -231.56576002991676, + -1523.285533243993, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -228.96768381856344, + -1524.785533243993, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -226.36960760721013, + -1526.285533243993, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -223.7715313958568, + -1527.785533243993, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -221.1734551845035, + -1529.285533243993, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -218.57537897315018, + -1530.785533243993, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -215.97730276179686, + -1532.285533243993, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -213.37922655044355, + -1533.785533243993, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -210.78115033909023, + -1535.285533243993, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -208.18307412773692, + -1536.785533243993, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -205.5849979163836, + -1538.285533243993, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -202.98692170503028, + -1539.785533243993, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -200.38884549367697, + -1541.285533243993, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -197.79076928232365, + -1542.785533243993, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -195.19269307097034, + -1544.285533243993, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-42-23_40610537/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-42-23_40610537/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..53f83beec0bcfc3999179c792de2a34a2438abb1 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-42-23_40610537/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -155.94894423531525, + -1576.0997193081473, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -157.44894423531525, + -1573.501643096794, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -158.94894423531525, + -1570.9035668854406, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -158.94894423531525, + -1570.9035668854406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -158.94894423531525, + -1567.9035668854406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -158.94894423531525, + -1564.9035668854406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -158.94894423531525, + -1561.9035668854406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -158.94894423531525, + -1558.9035668854406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -158.94894423531525, + -1555.9035668854406, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -158.94894423531525, + -1555.9035668854406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -160.44894423531525, + -1553.3054906740872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -161.94894423531525, + -1550.7074144627338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -163.44894423531525, + -1548.1093382513804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -164.94894423531525, + -1545.511262040027, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -166.44894423531525, + -1542.9131858286737, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -167.94894423531525, + -1540.3151096173203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -169.44894423531525, + -1537.717033405967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -170.94894423531525, + -1535.1189571946136, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -172.44894423531525, + -1532.5208809832602, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -173.94894423531525, + -1529.9228047719068, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -175.44894423531525, + -1527.3247285605535, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -176.94894423531525, + -1524.7266523492, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -178.44894423531525, + -1522.1285761378467, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -179.94894423531525, + -1519.5304999264933, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -179.94894423531525, + -1519.5304999264933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -182.54702044666857, + -1518.0304999264933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -185.14509665802188, + -1516.5304999264933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -187.7431728693752, + -1515.0304999264933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -190.34124908072852, + -1513.5304999264933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -192.93932529208183, + -1512.0304999264933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -195.53740150343515, + -1510.5304999264933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -198.13547771478846, + -1509.0304999264933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -200.73355392614178, + -1507.5304999264933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -203.3316301374951, + -1506.0304999264933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -205.9297063488484, + -1504.5304999264933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -208.52778256020173, + -1503.0304999264933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -211.12585877155504, + -1501.5304999264933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -213.72393498290836, + -1500.0304999264933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -216.32201119426168, + -1498.5304999264933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -218.920087405615, + -1497.0304999264933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -221.5181636169683, + -1495.5304999264933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -224.11623982832162, + -1494.0304999264933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -226.71431603967494, + -1492.5304999264933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -229.31239225102826, + -1491.0304999264933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -231.91046846238157, + -1489.5304999264933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -234.5085446737349, + -1488.0304999264933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -237.1066208850882, + -1486.5304999264933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -239.70469709644152, + -1485.0304999264933, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -239.70469709644152, + -1485.0304999264933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -241.20469709644152, + -1482.43242371514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -242.70469709644152, + -1479.8343475037866, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-9-55_530498338/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-9-55_530498338/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f8ef58889e368d9a28363ea9e5abf8f196a525fa --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-9-55_530498338/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -784.3665945060895, + -2036.0826595766691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -782.8665945060895, + -2033.4845833653158, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -781.3665945060895, + -2030.8865071539624, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -779.8665945060895, + -2028.288430942609, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -778.3665945060895, + -2025.6903547312556, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -776.8665945060895, + -2023.0922785199023, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -775.3665945060895, + -2020.494202308549, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -773.8665945060895, + -2017.8961260971955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -772.3665945060895, + -2015.2980498858421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -770.8665945060895, + -2012.6999736744888, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -769.3665945060895, + -2010.1018974631354, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -767.8665945060895, + -2007.503821251782, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -767.8665945060895, + -2007.503821251782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -765.2685182947362, + -2006.003821251782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -762.6704420833828, + -2004.503821251782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -760.0723658720294, + -2003.003821251782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -757.474289660676, + -2001.503821251782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -754.8762134493227, + -2000.003821251782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -752.2781372379693, + -1998.503821251782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -749.6800610266159, + -1997.003821251782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -747.0819848152626, + -1995.503821251782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -744.4839086039092, + -1994.003821251782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -741.8858323925558, + -1992.503821251782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -739.2877561812024, + -1991.003821251782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -736.6896799698491, + -1989.503821251782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -734.0916037584957, + -1988.003821251782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -731.4935275471423, + -1986.503821251782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -728.895451335789, + -1985.003821251782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -726.2973751244356, + -1983.503821251782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -723.6992989130822, + -1982.003821251782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -721.1012227017288, + -1980.503821251782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -718.5031464903755, + -1979.003821251782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -715.9050702790221, + -1977.503821251782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -713.3069940676687, + -1976.003821251782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -710.7089178563153, + -1974.503821251782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -708.110841644962, + -1973.003821251782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -705.5127654336086, + -1971.503821251782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -702.9146892222552, + -1970.003821251782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -700.3166130109018, + -1968.503821251782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -697.7185367995485, + -1967.003821251782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -695.1204605881951, + -1965.503821251782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -692.5223843768417, + -1964.003821251782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -689.9243081654884, + -1962.503821251782, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -689.9243081654884, + -1962.503821251782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -688.4243081654884, + -1959.9057450404287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -686.9243081654884, + -1957.3076688290753, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -685.4243081654884, + -1954.709592617722, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -683.9243081654884, + -1952.1115164063685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -682.4243081654884, + -1949.5134401950152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -680.9243081654884, + -1946.9153639836618, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -679.4243081654884, + -1944.3172877723084, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -679.4243081654884, + -1944.3172877723084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -679.4243081654884, + -1941.3172877723084, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267949059 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-23-42_96617457/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-23-42_96617457/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..364cbce32524c8ad3f2d133654b1b124dc870b6e --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-23-42_96617457/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -661.6676015176539, + -1781.1142815876296, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -663.1676015176539, + -1783.712357798983, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -664.6676015176539, + -1786.3104340103364, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -666.1676015176539, + -1788.9085102216898, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -667.6676015176539, + -1791.5065864330431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -669.1676015176539, + -1794.1046626443965, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -670.6676015176539, + -1796.7027388557499, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -672.1676015176539, + -1799.3008150671033, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -673.6676015176539, + -1801.8988912784566, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -675.1676015176539, + -1804.49696748981, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -676.6676015176539, + -1807.0950437011634, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -678.1676015176539, + -1809.6931199125167, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -679.6676015176539, + -1812.2911961238701, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -681.1676015176539, + -1814.8892723352235, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -682.6676015176539, + -1817.4873485465769, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -684.1676015176539, + -1820.0854247579302, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -685.6676015176539, + -1822.6835009692836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -687.1676015176539, + -1825.281577180637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -688.6676015176539, + -1827.8796533919904, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -690.1676015176539, + -1830.4777296033437, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -691.6676015176539, + -1833.075805814697, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -693.1676015176539, + -1835.6738820260505, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -693.1676015176539, + -1835.6738820260505, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -693.1676015176539, + -1838.6738820260505, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -693.1676015176539, + -1841.6738820260505, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -693.1676015176539, + -1844.6738820260505, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -693.1676015176539, + -1847.6738820260505, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -693.1676015176539, + -1850.6738820260505, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -693.1676015176539, + -1853.6738820260505, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -693.1676015176539, + -1856.6738820260505, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -693.1676015176539, + -1859.6738820260505, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -693.1676015176539, + -1862.6738820260505, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -693.1676015176539, + -1865.6738820260505, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -693.1676015176539, + -1868.6738820260505, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -693.1676015176539, + -1871.6738820260505, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -693.1676015176539, + -1874.6738820260505, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -693.1676015176539, + -1877.6738820260505, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -693.1676015176539, + -1880.6738820260505, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -693.1676015176539, + -1883.6738820260505, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -693.1676015176539, + -1886.6738820260505, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -693.1676015176539, + -1889.6738820260505, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -693.1676015176539, + -1892.6738820260505, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -693.1676015176539, + -1895.6738820260505, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -693.1676015176539, + -1895.6738820260505, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -694.6676015176539, + -1898.2719582374039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -696.1676015176539, + -1900.8700344487572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -697.6676015176539, + -1903.4681106601106, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -699.1676015176539, + -1906.066186871464, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -700.6676015176539, + -1908.6642630828173, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -702.1676015176539, + -1911.2623392941707, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -703.6676015176539, + -1913.860415505524, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -705.1676015176539, + -1916.4584917168775, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -706.6676015176539, + -1919.0565679282308, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -712.0, + -1940.0, + -205.963 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-25-31_919785523/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-25-31_919785523/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2f4abcd9bf4b67fb1a2df4e4bfe2ffaeef0ee594 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-25-31_919785523/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 221.88170140502012, + -1487.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 221.88170140502012, + -1484.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 221.88170140502012, + -1481.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 221.88170140502012, + -1478.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 221.88170140502012, + -1475.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 221.88170140502012, + -1472.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 221.88170140502012, + -1469.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 221.88170140502012, + -1466.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 221.88170140502012, + -1463.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 221.88170140502012, + -1460.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 221.88170140502012, + -1457.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 221.88170140502012, + -1454.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 221.88170140502012, + -1451.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 221.88170140502012, + -1448.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 221.88170140502012, + -1445.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 221.88170140502012, + -1442.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 221.88170140502012, + -1439.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 221.88170140502012, + -1436.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 221.88170140502012, + -1433.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 221.88170140502012, + -1430.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 221.88170140502012, + -1427.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 221.88170140502012, + -1424.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 221.88170140502012, + -1421.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 221.88170140502012, + -1418.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 221.88170140502012, + -1415.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 221.88170140502012, + -1412.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 221.88170140502012, + -1409.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 221.88170140502012, + -1406.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 221.88170140502012, + -1403.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 221.88170140502012, + -1400.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 221.88170140502012, + -1397.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 221.88170140502012, + -1394.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 221.88170140502012, + -1391.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 221.88170140502012, + -1388.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 221.88170140502012, + -1385.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 221.88170140502012, + -1382.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 221.88170140502012, + -1379.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 221.88170140502012, + -1376.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 221.88170140502012, + -1373.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 221.88170140502012, + -1370.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 221.88170140502012, + -1367.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 221.88170140502012, + -1364.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 221.88170140502012, + -1361.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 221.88170140502012, + -1358.4001791731064, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 221.88170140502012, + -1358.4001791731064, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 221.88170140502012, + -1358.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 224.47977761637344, + -1356.9001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 227.07785382772676, + -1355.4001791731064, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 227.07785382772676, + -1355.4001791731064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 228.57785382772676, + -1352.802102961753, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 230.07785382772676, + -1350.2040267503996, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 231.57785382772676, + -1347.6059505390463, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 233.07785382772676, + -1345.007874327693, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 234.57785382772676, + -1342.4097981163395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 236.07785382772676, + -1339.8117219049861, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-29-19_523782140/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-29-19_523782140/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7a3be0d88376a2621f26fdb5bb054e8b2376df48 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-29-19_523782140/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -817.8586365010383, + -1768.3483773242929, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -815.2605602896849, + -1769.8483773242929, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -812.6624840783315, + -1771.3483773242929, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -810.0644078669782, + -1772.8483773242929, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -807.4663316556248, + -1774.3483773242929, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -804.8682554442714, + -1775.8483773242929, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -802.270179232918, + -1777.3483773242929, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -799.6721030215647, + -1778.8483773242929, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -797.0740268102113, + -1780.3483773242929, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -794.4759505988579, + -1781.8483773242929, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -794.4759505988579, + -1781.8483773242929, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -791.4759505988579, + -1781.8483773242929, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -788.4759505988579, + -1781.8483773242929, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -785.4759505988579, + -1781.8483773242929, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -782.4759505988579, + -1781.8483773242929, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -782.4759505988579, + -1781.8483773242929, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -782.4759505988579, + -1781.8483773242929, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -780.9759505988579, + -1784.4464535356462, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -779.4759505988579, + -1787.0445297469996, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -777.9759505988579, + -1789.642605958353, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -776.4759505988579, + -1792.2406821697064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -774.9759505988579, + -1794.8387583810597, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -773.4759505988579, + -1797.436834592413, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -771.9759505988579, + -1800.0349108037665, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -770.4759505988579, + -1802.6329870151199, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -768.9759505988579, + -1805.2310632264732, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -767.4759505988579, + -1807.8291394378266, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -765.9759505988579, + -1810.42721564918, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -764.4759505988579, + -1813.0252918605333, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -762.9759505988579, + -1815.6233680718867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -761.4759505988579, + -1818.22144428324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -759.9759505988579, + -1820.8195204945935, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -758.4759505988579, + -1823.4175967059468, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -756.9759505988579, + -1826.0156729173002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -755.4759505988579, + -1828.6137491286536, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -753.9759505988579, + -1831.211825340007, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -752.4759505988579, + -1833.8099015513603, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -750.9759505988579, + -1836.4079777627137, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -749.4759505988579, + -1839.006053974067, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -747.9759505988579, + -1841.6041301854204, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -746.4759505988579, + -1844.2022063967738, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -744.9759505988579, + -1846.8002826081272, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -743.4759505988579, + -1849.3983588194806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -741.9759505988579, + -1851.996435030834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -740.4759505988579, + -1854.5945112421873, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -738.9759505988579, + -1857.1925874535407, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -737.4759505988579, + -1859.790663664894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -735.9759505988579, + -1862.3887398762474, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -734.4759505988579, + -1864.9868160876008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -732.9759505988579, + -1867.5848922989542, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -732.9759505988579, + -1867.5848922989542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -730.3778743875046, + -1869.0848922989542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -727.7797981761512, + -1870.5848922989542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -725.1817219647978, + -1872.0848922989542, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-30-18_1312313043/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-30-18_1312313043/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..70f8e636b7b706caaa3370b85d7e1f86919888d0 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-30-18_1312313043/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 9.875067084705961, + -1533.2858544412502, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 11.375067084705961, + -1535.8839306526036, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 12.875067084705961, + -1538.482006863957, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 14.375067084705961, + -1541.0800830753103, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 15.875067084705961, + -1543.6781592866637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 17.37506708470596, + -1546.276235498017, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 18.87506708470596, + -1548.8743117093704, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 20.37506708470596, + -1551.4723879207238, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 21.87506708470596, + -1554.0704641320772, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 23.37506708470596, + -1556.6685403434305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 24.87506708470596, + -1559.266616554784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 26.37506708470596, + -1561.8646927661373, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 27.87506708470596, + -1564.4627689774907, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 29.37506708470596, + -1567.060845188844, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 30.87506708470596, + -1569.6589214001974, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 32.37506708470596, + -1572.2569976115508, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 33.87506708470596, + -1574.8550738229042, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 35.37506708470596, + -1577.4531500342575, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 36.87506708470596, + -1580.051226245611, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 38.37506708470596, + -1582.6493024569643, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 39.87506708470596, + -1585.2473786683177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 41.37506708470596, + -1587.845454879671, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 42.87506708470596, + -1590.4435310910244, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 42.87506708470596, + -1590.4435310910244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 42.87506708470596, + -1593.4435310910244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 42.87506708470596, + -1596.4435310910244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 42.87506708470596, + -1599.4435310910244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 42.87506708470596, + -1602.4435310910244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 42.87506708470596, + -1605.4435310910244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 42.87506708470596, + -1608.4435310910244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 42.87506708470596, + -1611.4435310910244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 42.87506708470596, + -1614.4435310910244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 42.87506708470596, + -1617.4435310910244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 42.87506708470596, + -1620.4435310910244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 42.87506708470596, + -1623.4435310910244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 42.87506708470596, + -1626.4435310910244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 42.87506708470596, + -1629.4435310910244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 42.87506708470596, + -1632.4435310910244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 42.87506708470596, + -1635.4435310910244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 42.87506708470596, + -1638.4435310910244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 42.87506708470596, + -1641.4435310910244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 42.87506708470596, + -1644.4435310910244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 42.87506708470596, + -1647.4435310910244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 42.87506708470596, + -1650.4435310910244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 42.87506708470596, + -1653.4435310910244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 42.87506708470596, + -1656.4435310910244, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 42.87506708470596, + -1656.4435310910244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 44.37506708470596, + -1659.0416073023778, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 45.87506708470596, + -1661.6396835137311, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 45.87506708470596, + -1661.6396835137311, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 48.47314329605928, + -1663.1396835137311, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 51.07121950741259, + -1664.6396835137311, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 53.66929571876591, + -1666.1396835137311, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 56.267371930119225, + -1667.6396835137311, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -1696.0, + -213.853 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-43-38_1564739221/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-43-38_1564739221/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..edf6fbb75a527a476f82b0042fe94a65b9bd47a8 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-43-38_1564739221/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 401.58454106599936, + -1307.80139009011, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 404.1826172773527, + -1306.30139009011, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 406.780693488706, + -1304.80139009011, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 409.3787697000593, + -1303.30139009011, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 411.9768459114126, + -1301.80139009011, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 411.9768459114126, + -1301.80139009011, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 413.4768459114126, + -1299.2033138787567, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 414.9768459114126, + -1296.6052376674033, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 416.4768459114126, + -1294.00716145605, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 417.9768459114126, + -1291.4090852446966, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 419.4768459114126, + -1288.8110090333432, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 419.4768459114126, + -1288.8110090333432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 422.07492212276594, + -1287.3110090333432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 424.67299833411926, + -1285.8110090333432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 427.2710745454726, + -1284.3110090333432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 429.8691507568259, + -1282.8110090333432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 432.4672269681792, + -1281.3110090333432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 435.0653031795325, + -1279.8110090333432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 437.66337939088584, + -1278.3110090333432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 440.26145560223915, + -1276.8110090333432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 442.85953181359247, + -1275.3110090333432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 445.4576080249458, + -1273.8110090333432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 448.0556842362991, + -1272.3110090333432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 450.6537604476524, + -1270.8110090333432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 453.25183665900573, + -1269.3110090333432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 455.84991287035905, + -1267.8110090333432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 458.44798908171236, + -1266.3110090333432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 461.0460652930657, + -1264.8110090333432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 463.644141504419, + -1263.3110090333432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 466.2422177157723, + -1261.8110090333432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 468.84029392712563, + -1260.3110090333432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 471.43837013847894, + -1258.8110090333432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 474.03644634983226, + -1257.3110090333432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 476.6345225611856, + -1255.8110090333432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 479.2325987725389, + -1254.3110090333432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 481.8306749838922, + -1252.8110090333432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 484.4287511952455, + -1251.3110090333432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 487.02682740659884, + -1249.8110090333432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 489.62490361795216, + -1248.3110090333432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 492.2229798293055, + -1246.8110090333432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 494.8210560406588, + -1245.3110090333432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 497.4191322520121, + -1243.8110090333432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 500.0172084633654, + -1242.3110090333432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 502.61528467471874, + -1240.8110090333432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 505.21336088607205, + -1239.3110090333432, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 528.0, + -1224.0, + -203.312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-53-3_1401422376/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-53-3_1401422376/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..57ec1eb6f1d98f66d8092508c3a33f21b84b2745 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-53-3_1401422376/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 105.16999668061173, + -1547.5807736867093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 105.16999668061173, + -1550.5807736867093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 105.16999668061173, + -1553.5807736867093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 105.16999668061173, + -1556.5807736867093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 105.16999668061173, + -1559.5807736867093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 105.16999668061173, + -1562.5807736867093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 105.16999668061173, + -1565.5807736867093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 105.16999668061173, + -1568.5807736867093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 105.16999668061173, + -1571.5807736867093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 105.16999668061173, + -1574.5807736867093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 105.16999668061173, + -1577.5807736867093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 105.16999668061173, + -1580.5807736867093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 105.16999668061173, + -1583.5807736867093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 105.16999668061173, + -1586.5807736867093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 105.16999668061173, + -1589.5807736867093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 105.16999668061173, + -1592.5807736867093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 105.16999668061173, + -1595.5807736867093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 105.16999668061173, + -1598.5807736867093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 105.16999668061173, + -1601.5807736867093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 105.16999668061173, + -1604.5807736867093, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 105.16999668061173, + -1604.5807736867093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 106.66999668061173, + -1607.1788498980627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 108.16999668061173, + -1609.776926109416, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 109.66999668061173, + -1612.3750023207695, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 111.16999668061173, + -1614.9730785321228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 112.66999668061173, + -1617.5711547434762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 114.16999668061173, + -1620.1692309548296, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 114.16999668061173, + -1620.1692309548296, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 114.16999668061173, + -1623.1692309548296, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 114.16999668061173, + -1626.1692309548296, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 114.16999668061173, + -1629.1692309548296, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 114.16999668061173, + -1632.1692309548296, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 114.16999668061173, + -1635.1692309548296, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 114.16999668061173, + -1638.1692309548296, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 114.16999668061173, + -1641.1692309548296, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 114.16999668061173, + -1644.1692309548296, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 114.16999668061173, + -1647.1692309548296, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 114.16999668061173, + -1650.1692309548296, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 114.16999668061173, + -1653.1692309548296, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 114.16999668061173, + -1656.1692309548296, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 114.16999668061173, + -1659.1692309548296, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 114.16999668061173, + -1659.1692309548296, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 112.66999668061173, + -1661.767307166183, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 112.66999668061173, + -1661.767307166183, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 112.66999668061173, + -1661.767307166183, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897833 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 109.66999668061173, + -1661.767307166183, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 106.66999668061173, + -1661.767307166183, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 103.66999668061173, + -1661.767307166183, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 100.66999668061173, + -1661.767307166183, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 97.66999668061173, + -1661.767307166183, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 94.66999668061173, + -1661.767307166183, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 91.66999668061173, + -1661.767307166183, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 88.66999668061173, + -1661.767307166183, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 88.66999668061173, + -1661.767307166183, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 86.07192046925842, + -1663.267307166183, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 83.4738442579051, + -1664.767307166183, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 80.87576804655178, + -1666.267307166183, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 78.27769183519847, + -1667.767307166183, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 75.67961562384515, + -1669.267307166183, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -1696.0, + -213.853 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-6-56_880492499/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-6-56_880492499/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5e3c69915e3de1a9bf51a7714271d433f02cdcc9 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-6-56_880492499/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -638.0299212167015, + -2048.9948661153894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -639.5299212167015, + -2046.396789904036, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -641.0299212167015, + -2043.7987136926827, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -642.5299212167015, + -2041.2006374813293, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -644.0299212167015, + -2038.602561269976, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -645.5299212167015, + -2036.0044850586225, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -647.0299212167015, + -2033.4064088472692, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -648.5299212167015, + -2030.8083326359158, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -650.0299212167015, + -2028.2102564245624, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -651.5299212167015, + -2025.612180213209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -653.0299212167015, + -2023.0141040018557, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -654.5299212167015, + -2020.4160277905023, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -656.0299212167015, + -2017.817951579149, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -657.5299212167015, + -2015.2198753677956, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -659.0299212167015, + -2012.6217991564422, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -660.5299212167015, + -2010.0237229450888, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -662.0299212167015, + -2007.4256467337354, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -663.5299212167015, + -2004.827570522382, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -665.0299212167015, + -2002.2294943110287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -666.5299212167015, + -1999.6314180996753, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -668.0299212167015, + -1997.033341888322, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -669.5299212167015, + -1994.4352656769686, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -671.0299212167015, + -1991.8371894656152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -672.5299212167015, + -1989.2391132542618, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -674.0299212167015, + -1986.6410370429085, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -675.5299212167015, + -1984.042960831555, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -677.0299212167015, + -1981.4448846202017, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -678.5299212167015, + -1978.8468084088483, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -680.0299212167015, + -1976.248732197495, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -681.5299212167015, + -1973.6506559861416, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -683.0299212167015, + -1971.0525797747882, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -684.5299212167015, + -1968.4545035634349, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -686.0299212167015, + -1965.8564273520815, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -687.5299212167015, + -1963.258351140728, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -689.0299212167015, + -1960.6602749293747, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -689.0299212167015, + -1960.6602749293747, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -689.0299212167015, + -1957.6602749293747, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -689.0299212167015, + -1954.6602749293747, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -689.0299212167015, + -1951.6602749293747, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -689.0299212167015, + -1948.6602749293747, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -689.0299212167015, + -1945.6602749293747, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -689.0299212167015, + -1942.6602749293747, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -689.0299212167015, + -1939.6602749293747, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -689.0299212167015, + -1936.6602749293747, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -689.0299212167015, + -1933.6602749293747, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -689.0299212167015, + -1930.6602749293747, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -689.0299212167015, + -1927.6602749293747, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -689.0299212167015, + -1927.6602749293747, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -690.5299212167015, + -1925.0621987180214, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -692.0299212167015, + -1922.464122506668, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-9-8_636600769/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-9-8_636600769/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6e3b9a0803007957ffcfbe7318acb33150ab6e9e --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-9-8_636600769/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -107.35583089099094, + -1502.9186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -109.95390710234426, + -1501.4186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -112.55198331369758, + -1499.9186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -115.15005952505089, + -1498.4186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -117.74813573640421, + -1496.9186540074297, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -117.74813573640421, + -1496.9186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -120.74813573640421, + -1496.9186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -123.74813573640421, + -1496.9186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -126.74813573640421, + -1496.9186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -129.7481357364042, + -1496.9186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -132.7481357364042, + -1496.9186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -135.7481357364042, + -1496.9186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -138.7481357364042, + -1496.9186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -141.7481357364042, + -1496.9186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -144.7481357364042, + -1496.9186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -147.7481357364042, + -1496.9186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -150.7481357364042, + -1496.9186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -153.7481357364042, + -1496.9186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -156.7481357364042, + -1496.9186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -159.7481357364042, + -1496.9186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -162.7481357364042, + -1496.9186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -165.7481357364042, + -1496.9186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -168.7481357364042, + -1496.9186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -171.7481357364042, + -1496.9186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -174.7481357364042, + -1496.9186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -177.7481357364042, + -1496.9186540074297, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -177.7481357364042, + -1496.9186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -180.34621194775752, + -1495.4186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -182.94428815911084, + -1493.9186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -185.54236437046416, + -1492.4186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -188.14044058181747, + -1490.9186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -190.7385167931708, + -1489.4186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -193.3365930045241, + -1487.9186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -195.93466921587742, + -1486.4186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -198.53274542723074, + -1484.9186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -201.13082163858405, + -1483.4186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -203.72889784993737, + -1481.9186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -206.32697406129068, + -1480.4186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -208.925050272644, + -1478.9186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -211.52312648399732, + -1477.4186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -214.12120269535063, + -1475.9186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -216.71927890670395, + -1474.4186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -219.31735511805726, + -1472.9186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -221.91543132941058, + -1471.4186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -224.5135075407639, + -1469.9186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -227.1115837521172, + -1468.4186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -229.70965996347053, + -1466.9186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -232.30773617482384, + -1465.4186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -234.90581238617716, + -1463.9186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -237.50388859753048, + -1462.4186540074297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -240.1019648088838, + -1460.9186540074297, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-2-22_1579952366/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-2-22_1579952366/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2ff83679151320cb914ad774f0c159a278d36237 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-2-22_1579952366/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -988.0632730865259, + -2774.4072110348257, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -988.0632730865259, + -2777.4072110348257, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -988.0632730865259, + -2780.4072110348257, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -988.0632730865259, + -2783.4072110348257, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -988.0632730865259, + -2786.4072110348257, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -988.0632730865259, + -2789.4072110348257, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -988.0632730865259, + -2792.4072110348257, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -988.0632730865259, + -2795.4072110348257, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -988.0632730865259, + -2798.4072110348257, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -988.0632730865259, + -2801.4072110348257, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -988.0632730865259, + -2801.4072110348257, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -989.5632730865259, + -2804.005287246179, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -991.0632730865259, + -2806.603363457532, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -992.5632730865259, + -2809.201439668885, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -994.0632730865259, + -2811.7995158802382, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -995.5632730865259, + -2814.3975920915914, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -997.0632730865259, + -2816.9956683029445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -998.5632730865259, + -2819.5937445142977, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1000.0632730865259, + -2822.191820725651, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1000.0632730865259, + -2822.191820725651, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794925 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1000.0632730865259, + -2825.191820725651, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1000.0632730865259, + -2828.191820725651, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1000.0632730865259, + -2831.191820725651, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1000.0632730865259, + -2834.191820725651, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1000.0632730865259, + -2837.191820725651, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1000.0632730865259, + -2840.191820725651, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1000.0632730865259, + -2843.191820725651, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1000.0632730865259, + -2846.191820725651, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1000.0632730865259, + -2849.191820725651, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1000.0632730865259, + -2849.191820725651, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -998.5632730865259, + -2851.789896937004, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -997.0632730865259, + -2854.387973148357, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -995.5632730865259, + -2856.9860493597103, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -994.0632730865259, + -2859.5841255710634, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -992.5632730865259, + -2862.1822017824165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -991.0632730865259, + -2864.7802779937697, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -989.5632730865259, + -2867.378354205123, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -988.0632730865259, + -2869.976430416476, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -986.5632730865259, + -2872.574506627829, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -985.0632730865259, + -2875.1725828391823, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -983.5632730865259, + -2877.7706590505354, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -982.0632730865259, + -2880.3687352618886, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -980.5632730865259, + -2882.9668114732417, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -979.0632730865259, + -2885.564887684595, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -977.5632730865259, + -2888.162963895948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -976.0632730865259, + -2890.761040107301, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -974.5632730865259, + -2893.3591163186543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -973.0632730865259, + -2895.9571925300074, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -971.5632730865259, + -2898.5552687413606, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -970.0632730865259, + -2901.1533449527137, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -968.5632730865259, + -2903.751421164067, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -967.0632730865259, + -2906.34949737542, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -967.0632730865259, + -2906.34949737542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -964.4651968751725, + -2907.84949737542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -961.8671206638192, + -2909.34949737542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -959.2690444524658, + -2910.84949737542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -956.6709682411124, + -2912.34949737542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -954.072892029759, + -2913.84949737542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -951.4748158184057, + -2915.34949737542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -948.8767396070523, + -2916.84949737542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -946.2786633956989, + -2918.34949737542, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + -2936.0, + -205.779 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-29-55_1041356631/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-29-55_1041356631/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6bb3e72e924b6f74341dd89919ad5af88437b7c1 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-29-55_1041356631/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 398.65191850710556, + -1292.9570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 396.05384229575225, + -1294.4570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 393.45576608439893, + -1295.9570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 390.8576898730456, + -1297.4570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 388.2596136616923, + -1298.9570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 385.661537450339, + -1300.4570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 383.06346123898567, + -1301.9570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 380.46538502763235, + -1303.4570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 377.86730881627903, + -1304.9570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 375.2692326049257, + -1306.4570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 372.6711563935724, + -1307.9570605356869, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 372.6711563935724, + -1307.9570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 369.6711563935724, + -1307.9570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 366.6711563935724, + -1307.9570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 363.6711563935724, + -1307.9570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 360.6711563935724, + -1307.9570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 357.6711563935724, + -1307.9570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 354.6711563935724, + -1307.9570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 351.6711563935724, + -1307.9570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 348.6711563935724, + -1307.9570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 345.6711563935724, + -1307.9570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 342.6711563935724, + -1307.9570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 339.6711563935724, + -1307.9570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 336.6711563935724, + -1307.9570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 333.6711563935724, + -1307.9570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 330.6711563935724, + -1307.9570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 327.6711563935724, + -1307.9570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 324.6711563935724, + -1307.9570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 321.6711563935724, + -1307.9570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 318.6711563935724, + -1307.9570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 315.6711563935724, + -1307.9570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 312.6711563935724, + -1307.9570605356869, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 312.6711563935724, + -1307.9570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 310.0730801822191, + -1309.4570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 307.47500397086577, + -1310.9570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 304.87692775951245, + -1312.4570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 302.27885154815914, + -1313.9570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 299.6807753368058, + -1315.4570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 297.0826991254525, + -1316.9570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 294.4846229140992, + -1318.4570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 291.8865467027459, + -1319.9570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 289.28847049139256, + -1321.4570605356869, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 289.28847049139256, + -1321.4570605356869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 287.78847049139256, + -1324.0551367470403, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 286.28847049139256, + -1326.6532129583936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 284.78847049139256, + -1329.251289169747, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 283.28847049139256, + -1331.8493653811004, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 281.78847049139256, + -1334.4474415924537, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 280.28847049139256, + -1337.0455178038071, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 278.78847049139256, + -1339.6435940151605, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 277.28847049139256, + -1342.2416702265139, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 275.78847049139256, + -1344.8397464378672, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 274.28847049139256, + -1347.4378226492206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 272.78847049139256, + -1350.035898860574, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 271.28847049139256, + -1352.6339750719274, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 269.78847049139256, + -1355.2320512832807, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 268.28847049139256, + -1357.830127494634, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 268.28847049139256, + -1357.830127494634, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 265.69039428003924, + -1359.330127494634, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914846 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-34-41_1488873165/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-34-41_1488873165/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..75a639b9746033ea773f236fd322d47854630c72 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-34-41_1488873165/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 402.1285918233645, + -1313.6839530794884, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 404.7266680347178, + -1312.1839530794884, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 407.32474424607113, + -1310.6839530794884, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 407.32474424607113, + -1310.6839530794884, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 408.82474424607113, + -1308.085876868135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 410.32474424607113, + -1305.4878006567817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 411.82474424607113, + -1302.8897244454283, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 413.32474424607113, + -1300.291648234075, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 414.82474424607113, + -1297.6935720227216, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 416.32474424607113, + -1295.0954958113682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 417.82474424607113, + -1292.4974196000148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 419.32474424607113, + -1289.8993433886615, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 420.82474424607113, + -1287.301267177308, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 420.82474424607113, + -1287.301267177308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 423.42282045742445, + -1285.801267177308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 426.02089666877777, + -1284.301267177308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 428.6189728801311, + -1282.801267177308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 431.2170490914844, + -1281.301267177308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 433.8151253028377, + -1279.801267177308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 436.41320151419103, + -1278.301267177308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 439.01127772554435, + -1276.801267177308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 441.60935393689766, + -1275.301267177308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 444.207430148251, + -1273.801267177308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 446.8055063596043, + -1272.301267177308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 449.4035825709576, + -1270.801267177308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 452.0016587823109, + -1269.301267177308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 454.59973499366424, + -1267.801267177308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 457.19781120501756, + -1266.301267177308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 459.7958874163709, + -1264.801267177308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 462.3939636277242, + -1263.301267177308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 464.9920398390775, + -1261.801267177308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 467.5901160504308, + -1260.301267177308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 470.18819226178414, + -1258.801267177308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 472.78626847313745, + -1257.301267177308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 475.38434468449077, + -1255.801267177308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 477.9824208958441, + -1254.301267177308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 480.5804971071974, + -1252.801267177308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 483.1785733185507, + -1251.301267177308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 485.77664952990403, + -1249.801267177308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 488.37472574125735, + -1248.301267177308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 490.97280195261067, + -1246.801267177308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 493.570878163964, + -1245.301267177308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 496.1689543753173, + -1243.801267177308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 498.7670305866706, + -1242.301267177308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 501.36510679802393, + -1240.801267177308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 503.96318300937725, + -1239.301267177308, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 528.0, + -1224.0, + -203.312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-4-24_366831742/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-4-24_366831742/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9ae9e236a5fd248eed9a78036c9db90db2b43661 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-4-24_366831742/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -814.5492578872733, + -1779.2205748690772, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -813.0492578872733, + -1781.8186510804305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -811.5492578872733, + -1784.416727291784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -810.0492578872733, + -1787.0148035031373, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -808.5492578872733, + -1789.6128797144906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -807.0492578872733, + -1792.210955925844, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -805.5492578872733, + -1794.8090321371974, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -804.0492578872733, + -1797.4071083485508, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -802.5492578872733, + -1800.0051845599041, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -801.0492578872733, + -1802.6032607712575, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -799.5492578872733, + -1805.2013369826109, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -799.5492578872733, + -1805.2013369826109, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -799.5492578872733, + -1808.2013369826109, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -799.5492578872733, + -1811.2013369826109, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -799.5492578872733, + -1814.2013369826109, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -799.5492578872733, + -1814.2013369826109, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -799.5492578872733, + -1814.2013369826109, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -796.95118167592, + -1815.7013369826109, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -794.3531054645666, + -1817.2013369826109, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -791.7550292532133, + -1818.7013369826109, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -789.1569530418599, + -1820.2013369826109, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -786.5588768305065, + -1821.7013369826109, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -783.9608006191531, + -1823.2013369826109, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -781.3627244077998, + -1824.7013369826109, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -778.7646481964464, + -1826.2013369826109, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -776.166571985093, + -1827.7013369826109, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -773.5684957737396, + -1829.2013369826109, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -770.9704195623863, + -1830.7013369826109, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -768.3723433510329, + -1832.2013369826109, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -765.7742671396795, + -1833.7013369826109, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -763.1761909283262, + -1835.2013369826109, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -760.5781147169728, + -1836.7013369826109, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -757.9800385056194, + -1838.2013369826109, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -755.381962294266, + -1839.7013369826109, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -752.7838860829127, + -1841.2013369826109, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -750.1858098715593, + -1842.7013369826109, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -747.5877336602059, + -1844.2013369826109, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -744.9896574488525, + -1845.7013369826109, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -742.3915812374992, + -1847.2013369826109, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -739.7935050261458, + -1848.7013369826109, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -737.1954288147924, + -1850.2013369826109, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -737.1954288147924, + -1850.2013369826109, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -735.6954288147924, + -1852.7994131939643, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -734.1954288147924, + -1855.3974894053176, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -732.6954288147924, + -1857.995565616671, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -731.1954288147924, + -1860.5936418280244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -729.6954288147924, + -1863.1917180393777, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -728.1954288147924, + -1865.7897942507311, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -726.6954288147924, + -1868.3878704620845, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -725.1954288147924, + -1870.9859466734379, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -723.6954288147924, + -1873.5840228847912, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-4-52_215341973/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-4-52_215341973/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..39481a70bea704fd501d2eae53c499b5cbe716b5 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-4-52_215341973/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 364.39148370913495, + -1467.6056748244964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 361.79340749778163, + -1469.1056748244964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 359.1953312864283, + -1470.6056748244964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 356.597255075075, + -1472.1056748244964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 353.9991788637217, + -1473.6056748244964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 351.40110265236837, + -1475.1056748244964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 348.80302644101505, + -1476.6056748244964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 346.20495022966173, + -1478.1056748244964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 343.6068740183084, + -1479.6056748244964, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 343.6068740183084, + -1479.6056748244964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 340.6068740183084, + -1479.6056748244964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 337.6068740183084, + -1479.6056748244964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 334.6068740183084, + -1479.6056748244964, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 334.6068740183084, + -1479.6056748244964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 332.0087978069551, + -1481.1056748244964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 329.4107215956018, + -1482.6056748244964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 326.81264538424847, + -1484.1056748244964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 324.21456917289515, + -1485.6056748244964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 321.61649296154184, + -1487.1056748244964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 319.0184167501885, + -1488.6056748244964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 316.4203405388352, + -1490.1056748244964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 313.8222643274819, + -1491.6056748244964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 311.2241881161286, + -1493.1056748244964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 308.62611190477526, + -1494.6056748244964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 306.02803569342194, + -1496.1056748244964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 303.4299594820686, + -1497.6056748244964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 300.8318832707153, + -1499.1056748244964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 298.233807059362, + -1500.6056748244964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 295.6357308480087, + -1502.1056748244964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 293.03765463665536, + -1503.6056748244964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 290.43957842530205, + -1505.1056748244964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 287.84150221394873, + -1506.6056748244964, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 287.84150221394873, + -1506.6056748244964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 286.34150221394873, + -1509.2037510358498, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 284.84150221394873, + -1511.8018272472032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 283.34150221394873, + -1514.3999034585565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 281.84150221394873, + -1516.99797966991, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 280.34150221394873, + -1519.5960558812633, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 278.84150221394873, + -1522.1941320926167, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 277.34150221394873, + -1524.79220830397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 275.84150221394873, + -1527.3902845153234, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 274.34150221394873, + -1529.9883607266768, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 272.84150221394873, + -1532.5864369380301, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 271.34150221394873, + -1535.1845131493835, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 269.84150221394873, + -1537.782589360737, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 269.84150221394873, + -1537.782589360737, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 267.2434260025954, + -1539.282589360737, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 264.6453497912421, + -1540.782589360737, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1560.0, + -206.55 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-44-32_717032538/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-44-32_717032538/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..574d2e56e722ef66aa344b287d27c6ad83c3e1bf --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-44-32_717032538/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -940.2108497030296, + -2760.996577601125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -940.2108497030296, + -2763.996577601125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -940.2108497030296, + -2766.996577601125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -940.2108497030296, + -2769.996577601125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -940.2108497030296, + -2772.996577601125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -940.2108497030296, + -2775.996577601125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -940.2108497030296, + -2778.996577601125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -940.2108497030296, + -2781.996577601125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -940.2108497030296, + -2784.996577601125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -940.2108497030296, + -2787.996577601125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -940.2108497030296, + -2790.996577601125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -940.2108497030296, + -2793.996577601125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -940.2108497030296, + -2796.996577601125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -940.2108497030296, + -2799.996577601125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -940.2108497030296, + -2802.996577601125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -940.2108497030296, + -2805.996577601125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -940.2108497030296, + -2808.996577601125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -940.2108497030296, + -2811.996577601125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -940.2108497030296, + -2814.996577601125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -940.2108497030296, + -2817.996577601125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -940.2108497030296, + -2820.996577601125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -940.2108497030296, + -2823.996577601125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -940.2108497030296, + -2826.996577601125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -940.2108497030296, + -2829.996577601125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -940.2108497030296, + -2832.996577601125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -940.2108497030296, + -2835.996577601125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -940.2108497030296, + -2838.996577601125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -940.2108497030296, + -2841.996577601125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -940.2108497030296, + -2844.996577601125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -940.2108497030296, + -2847.996577601125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -940.2108497030296, + -2850.996577601125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -940.2108497030296, + -2853.996577601125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -940.2108497030296, + -2856.996577601125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -940.2108497030296, + -2859.996577601125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -940.2108497030296, + -2862.996577601125, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -940.2108497030296, + -2862.996577601125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -938.7108497030296, + -2865.594653812478, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -937.2108497030296, + -2868.1927300238312, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -937.2108497030296, + -2868.1927300238312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -937.2108497030296, + -2871.1927300238312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -937.2108497030296, + -2874.1927300238312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -937.2108497030296, + -2877.1927300238312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -937.2108497030296, + -2880.1927300238312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -937.2108497030296, + -2883.1927300238312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -937.2108497030296, + -2886.1927300238312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -937.2108497030296, + -2889.1927300238312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -937.2108497030296, + -2892.1927300238312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -937.2108497030296, + -2895.1927300238312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -937.2108497030296, + -2898.1927300238312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -937.2108497030296, + -2901.1927300238312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -937.2108497030296, + -2904.1927300238312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -937.2108497030296, + -2907.1927300238312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -937.2108497030296, + -2910.1927300238312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -937.2108497030296, + -2913.1927300238312, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -937.2108497030296, + -2913.1927300238312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -938.7108497030296, + -2915.7908062351844, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + -2936.0, + -205.779 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-49-23_346502533/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-49-23_346502533/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f697226df5eb22f1e9e24fcf89768ab710d0e5f9 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-49-23_346502533/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -57.154933571192984, + -1445.3916361821728, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -59.7530097825463, + -1446.8916361821728, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -62.351085993899616, + -1448.3916361821728, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -62.351085993899616, + -1448.3916361821728, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -63.851085993899616, + -1450.9897123935261, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -65.35108599389962, + -1453.5877886048795, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -66.85108599389962, + -1456.1858648162329, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -68.35108599389962, + -1458.7839410275863, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -69.85108599389962, + -1461.3820172389396, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -71.35108599389962, + -1463.980093450293, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -72.85108599389962, + -1466.5781696616464, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -74.35108599389962, + -1469.1762458729997, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -75.85108599389962, + -1471.7743220843531, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -77.35108599389962, + -1474.3723982957065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -78.85108599389962, + -1476.9704745070599, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -80.35108599389962, + -1479.5685507184132, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -81.85108599389962, + -1482.1666269297666, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -83.35108599389962, + -1484.76470314112, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -84.85108599389962, + -1487.3627793524734, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -86.35108599389962, + -1489.9608555638267, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -87.85108599389962, + -1492.55893177518, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -89.35108599389962, + -1495.1570079865335, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -90.85108599389962, + -1497.7550841978868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -92.35108599389962, + -1500.3531604092402, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -93.85108599389962, + -1502.9512366205936, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -93.85108599389962, + -1502.9512366205936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -96.44916220525293, + -1504.4512366205936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -99.04723841660625, + -1505.9512366205936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -101.64531462795956, + -1507.4512366205936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -104.24339083931288, + -1508.9512366205936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -106.8414670506662, + -1510.4512366205936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -109.43954326201951, + -1511.9512366205936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -112.03761947337283, + -1513.4512366205936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -114.63569568472614, + -1514.9512366205936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -117.23377189607946, + -1516.4512366205936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -119.83184810743278, + -1517.9512366205936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -122.42992431878609, + -1519.4512366205936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -125.02800053013941, + -1520.9512366205936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -127.62607674149272, + -1522.4512366205936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -130.22415295284605, + -1523.9512366205936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -132.82222916419937, + -1525.4512366205936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -135.4203053755527, + -1526.9512366205936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -138.018381586906, + -1528.4512366205936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -140.61645779825932, + -1529.9512366205936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -143.21453400961263, + -1531.4512366205936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -145.81261022096595, + -1532.9512366205936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -148.41068643231927, + -1534.4512366205936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -151.00876264367258, + -1535.9512366205936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -153.6068388550259, + -1537.4512366205936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -156.20491506637921, + -1538.9512366205936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -158.80299127773253, + -1540.4512366205936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -161.40106748908585, + -1541.9512366205936, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-7-19_1368062958/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-7-19_1368062958/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2fa3eeef46f8d8ab4d9c9974d41515b9c3054077 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-7-19_1368062958/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 377.2196864086827, + -1284.2138914795714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 374.6216101973294, + -1285.7138914795714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 372.0235339859761, + -1287.2138914795714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 369.42545777462277, + -1288.7138914795714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 366.82738156326946, + -1290.2138914795714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 364.22930535191614, + -1291.7138914795714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 361.6312291405628, + -1293.2138914795714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 359.0331529292095, + -1294.7138914795714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 356.4350767178562, + -1296.2138914795714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 353.8370005065029, + -1297.7138914795714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 351.23892429514956, + -1299.2138914795714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 348.64084808379624, + -1300.7138914795714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 346.0427718724429, + -1302.2138914795714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 343.4446956610896, + -1303.7138914795714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 340.8466194497363, + -1305.2138914795714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 338.248543238383, + -1306.7138914795714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 335.65046702702966, + -1308.2138914795714, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 335.65046702702966, + -1308.2138914795714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 332.65046702702966, + -1308.2138914795714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 329.65046702702966, + -1308.2138914795714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 326.65046702702966, + -1308.2138914795714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 323.65046702702966, + -1308.2138914795714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 320.65046702702966, + -1308.2138914795714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 317.65046702702966, + -1308.2138914795714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 314.65046702702966, + -1308.2138914795714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 311.65046702702966, + -1308.2138914795714, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 311.65046702702966, + -1308.2138914795714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 309.05239081567635, + -1309.7138914795714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 306.45431460432303, + -1311.2138914795714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 303.8562383929697, + -1312.7138914795714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 301.2581621816164, + -1314.2138914795714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 298.6600859702631, + -1315.7138914795714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 296.06200975890977, + -1317.2138914795714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 293.46393354755645, + -1318.7138914795714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 290.86585733620313, + -1320.2138914795714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 288.2677811248498, + -1321.7138914795714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 285.6697049134965, + -1323.2138914795714, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 285.6697049134965, + -1323.2138914795714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 284.1697049134965, + -1325.8119676909248, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 282.6697049134965, + -1328.4100439022782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 281.1697049134965, + -1331.0081201136315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 279.6697049134965, + -1333.606196324985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 278.1697049134965, + -1336.2042725363383, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 276.6697049134965, + -1338.8023487476917, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 275.1697049134965, + -1341.400424959045, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 273.6697049134965, + -1343.9985011703984, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 272.1697049134965, + -1346.5965773817518, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 270.6697049134965, + -1349.1946535931052, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 269.1697049134965, + -1351.7927298044585, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 267.6697049134965, + -1354.390806015812, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 267.6697049134965, + -1354.390806015812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 265.0716287021432, + -1355.890806015812, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914846 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-16-36_384868448/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-16-36_384868448/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4ce8dabf763a3e2fa287c2bbae76c312bc0117dd --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-16-36_384868448/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 378.7829048107339, + -1288.6474085632528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 376.1848285993806, + -1290.1474085632528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 373.58675238802726, + -1291.6474085632528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 370.98867617667395, + -1293.1474085632528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 368.39059996532063, + -1294.6474085632528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 365.7925237539673, + -1296.1474085632528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 363.194447542614, + -1297.6474085632528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 360.5963713312607, + -1299.1474085632528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 357.99829511990737, + -1300.6474085632528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 355.40021890855405, + -1302.1474085632528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 352.80214269720074, + -1303.6474085632528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 350.2040664858474, + -1305.1474085632528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 347.6059902744941, + -1306.6474085632528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 345.0079140631408, + -1308.1474085632528, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 345.0079140631408, + -1308.1474085632528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 342.0079140631408, + -1308.1474085632528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 339.0079140631408, + -1308.1474085632528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 336.0079140631408, + -1308.1474085632528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 333.0079140631408, + -1308.1474085632528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 330.0079140631408, + -1308.1474085632528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 327.0079140631408, + -1308.1474085632528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 324.0079140631408, + -1308.1474085632528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 321.0079140631408, + -1308.1474085632528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 318.0079140631408, + -1308.1474085632528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 315.0079140631408, + -1308.1474085632528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 312.0079140631408, + -1308.1474085632528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 309.0079140631408, + -1308.1474085632528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 306.0079140631408, + -1308.1474085632528, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 306.0079140631408, + -1308.1474085632528, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 306.0079140631408, + -1308.1474085632528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 304.5079140631408, + -1310.7454847746062, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 303.0079140631408, + -1313.3435609859596, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 301.5079140631408, + -1315.941637197313, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 300.0079140631408, + -1318.5397134086663, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 298.5079140631408, + -1321.1377896200197, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 297.0079140631408, + -1323.735865831373, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 295.5079140631408, + -1326.3339420427264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 294.0079140631408, + -1328.9320182540798, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 292.5079140631408, + -1331.5300944654332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 291.0079140631408, + -1334.1281706767866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 289.5079140631408, + -1336.72624688814, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 288.0079140631408, + -1339.3243230994933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 286.5079140631408, + -1341.9223993108467, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 285.0079140631408, + -1344.5204755222, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 283.5079140631408, + -1347.1185517335534, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 282.0079140631408, + -1349.7166279449068, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 282.0079140631408, + -1349.7166279449068, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 279.4098378517875, + -1351.2166279449068, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 276.81176164043416, + -1352.7166279449068, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 274.21368542908084, + -1354.2166279449068, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 271.6156092177275, + -1355.7166279449068, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 269.0175330063742, + -1357.2166279449068, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 269.0175330063742, + -1357.2166279449068, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 266.0175330063742, + -1357.2166279449068, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-2-11_914600930/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-2-11_914600930/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5bd64495fc2fa54efb0c0aeeae6ea78635402c12 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-2-11_914600930/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 388.21071599171637, + -1457.9284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 385.61263978036305, + -1459.4284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 383.01456356900974, + -1460.9284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 380.4164873576564, + -1462.4284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 377.8184111463031, + -1463.9284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 375.2203349349498, + -1465.4284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 372.6222587235965, + -1466.9284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 370.02418251224316, + -1468.4284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 367.42610630088984, + -1469.9284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 364.8280300895365, + -1471.4284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 362.2299538781832, + -1472.9284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 359.6318776668299, + -1474.4284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 357.0338014554766, + -1475.9284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 354.43572524412326, + -1477.4284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 351.83764903276995, + -1478.9284420681572, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 351.83764903276995, + -1478.9284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 348.83764903276995, + -1478.9284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 345.83764903276995, + -1478.9284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 342.83764903276995, + -1478.9284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 339.83764903276995, + -1478.9284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 336.83764903276995, + -1478.9284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 333.83764903276995, + -1478.9284420681572, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 333.83764903276995, + -1478.9284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 331.23957282141663, + -1480.4284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 328.6414966100633, + -1481.9284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 326.04342039871, + -1483.4284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 323.4453441873567, + -1484.9284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 320.84726797600337, + -1486.4284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 318.24919176465005, + -1487.9284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 315.65111555329673, + -1489.4284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 313.0530393419434, + -1490.9284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 310.4549631305901, + -1492.4284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 307.8568869192368, + -1493.9284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 305.25881070788347, + -1495.4284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 302.66073449653015, + -1496.9284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 300.06265828517684, + -1498.4284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 297.4645820738235, + -1499.9284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 294.8665058624702, + -1501.4284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 292.2684296511169, + -1502.9284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 289.6703534397636, + -1504.4284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 287.07227722841026, + -1505.9284420681572, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 287.07227722841026, + -1505.9284420681572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 285.57227722841026, + -1508.5265182795106, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 284.07227722841026, + -1511.124594490864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 282.57227722841026, + -1513.7226707022173, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 281.07227722841026, + -1516.3207469135707, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 279.57227722841026, + -1518.918823124924, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 278.07227722841026, + -1521.5168993362774, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 276.57227722841026, + -1524.1149755476308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 275.07227722841026, + -1526.7130517589842, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 273.57227722841026, + -1529.3111279703376, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 272.07227722841026, + -1531.909204181691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 270.57227722841026, + -1534.5072803930443, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 269.07227722841026, + -1537.1053566043977, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 267.57227722841026, + -1539.703432815751, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 266.07227722841026, + -1542.3015090271044, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1560.0, + -206.55 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-20-23_1889537797/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-20-23_1889537797/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..79118b920f298ded516149b8aff5926da325d2e4 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-20-23_1889537797/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 294.8878717293835, + -1478.8205484403043, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 293.3878717293835, + -1476.222472228951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 291.8878717293835, + -1473.6243960175975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 290.3878717293835, + -1471.0263198062441, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 288.8878717293835, + -1468.4282435948908, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 287.3878717293835, + -1465.8301673835374, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 285.8878717293835, + -1463.232091172184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 284.3878717293835, + -1460.6340149608307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 282.8878717293835, + -1458.0359387494773, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 281.3878717293835, + -1455.437862538124, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 279.8878717293835, + -1452.8397863267705, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 278.3878717293835, + -1450.2417101154172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 276.8878717293835, + -1447.6436339040638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 275.3878717293835, + -1445.0455576927104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 273.8878717293835, + -1442.447481481357, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 272.3878717293835, + -1439.8494052700037, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 270.8878717293835, + -1437.2513290586503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 269.3878717293835, + -1434.653252847297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 267.8878717293835, + -1432.0551766359436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 266.3878717293835, + -1429.4571004245902, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 266.3878717293835, + -1429.4571004245902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 266.3878717293835, + -1426.4571004245902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 266.3878717293835, + -1423.4571004245902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 266.3878717293835, + -1420.4571004245902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 266.3878717293835, + -1417.4571004245902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 266.3878717293835, + -1414.4571004245902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 266.3878717293835, + -1411.4571004245902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 266.3878717293835, + -1408.4571004245902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 266.3878717293835, + -1405.4571004245902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 266.3878717293835, + -1402.4571004245902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 266.3878717293835, + -1399.4571004245902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 266.3878717293835, + -1396.4571004245902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 266.3878717293835, + -1393.4571004245902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 266.3878717293835, + -1390.4571004245902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 266.3878717293835, + -1387.4571004245902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 266.3878717293835, + -1384.4571004245902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 266.3878717293835, + -1381.4571004245902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 266.3878717293835, + -1378.4571004245902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 266.3878717293835, + -1375.4571004245902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 266.3878717293835, + -1372.4571004245902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 266.3878717293835, + -1369.4571004245902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 266.3878717293835, + -1366.4571004245902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 266.3878717293835, + -1363.4571004245902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 266.3878717293835, + -1360.4571004245902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 266.3878717293835, + -1357.4571004245902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 266.3878717293835, + -1354.4571004245902, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 266.3878717293835, + -1354.4571004245902, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 266.3878717293835, + -1354.4571004245902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 263.7897955180302, + -1352.9571004245902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 261.1917193066769, + -1351.4571004245902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 258.59364309532356, + -1349.9571004245902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 255.99556688397024, + -1348.4571004245902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 253.39749067261693, + -1346.9571004245902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 250.7994144612636, + -1345.4571004245902, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 250.7994144612636, + -1345.4571004245902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 249.2994144612636, + -1342.8590242132368, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 247.7994144612636, + -1340.2609480018834, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-26-32_419481884/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-26-32_419481884/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c6f13e04ca48c1c95c18121a4819e34306d42cf7 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-26-32_419481884/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 357.36107961940365, + -1410.87906515399, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 354.76300340805034, + -1409.37906515399, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 352.164927196697, + -1407.87906515399, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 349.5668509853437, + -1406.37906515399, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 346.9687747739904, + -1404.87906515399, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 344.3706985626371, + -1403.37906515399, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 341.77262235128376, + -1401.87906515399, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 339.17454613993044, + -1400.37906515399, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 336.5764699285771, + -1398.87906515399, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 333.9783937172238, + -1397.37906515399, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 331.3803175058705, + -1395.87906515399, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 328.7822412945172, + -1394.37906515399, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 326.18416508316386, + -1392.87906515399, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 323.58608887181055, + -1391.37906515399, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 320.98801266045723, + -1389.87906515399, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 318.3899364491039, + -1388.37906515399, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 315.7918602377506, + -1386.87906515399, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 313.1937840263973, + -1385.37906515399, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 310.59570781504397, + -1383.87906515399, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 307.99763160369065, + -1382.37906515399, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 305.39955539233733, + -1380.87906515399, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 302.801479180984, + -1379.37906515399, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 300.2034029696307, + -1377.87906515399, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 297.6053267582774, + -1376.37906515399, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 295.00725054692407, + -1374.87906515399, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 292.40917433557075, + -1373.37906515399, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 289.81109812421744, + -1371.87906515399, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 287.2130219128641, + -1370.37906515399, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 284.6149457015108, + -1368.87906515399, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 284.6149457015108, + -1368.87906515399, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 283.1149457015108, + -1366.2809889426367, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 281.6149457015108, + -1363.6829127312833, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 280.1149457015108, + -1361.08483651993, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 278.6149457015108, + -1358.4867603085765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 277.1149457015108, + -1355.8886840972232, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 275.6149457015108, + -1353.2906078858698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 274.1149457015108, + -1350.6925316745164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 272.6149457015108, + -1348.094455463163, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 271.1149457015108, + -1345.4963792518097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 269.6149457015108, + -1342.8983030404563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 268.1149457015108, + -1340.300226829103, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-27-56_1278792724/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-27-56_1278792724/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..36dc19a552ebba93af9aeab82777fd0efcade6ab --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-27-56_1278792724/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 358.94555191038927, + -1467.9010842246064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 356.34747569903595, + -1469.4010842246064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 353.74939948768264, + -1470.9010842246064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 351.1513232763293, + -1472.4010842246064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 348.553247064976, + -1473.9010842246064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 345.9551708536227, + -1475.4010842246064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 343.3570946422694, + -1476.9010842246064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 340.75901843091606, + -1478.4010842246064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 338.16094221956274, + -1479.9010842246064, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 338.16094221956274, + -1479.9010842246064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 335.16094221956274, + -1479.9010842246064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 332.16094221956274, + -1479.9010842246064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 329.16094221956274, + -1479.9010842246064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 326.16094221956274, + -1479.9010842246064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 323.16094221956274, + -1479.9010842246064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 320.16094221956274, + -1479.9010842246064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 317.16094221956274, + -1479.9010842246064, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 317.16094221956274, + -1479.9010842246064, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 317.16094221956274, + -1479.9010842246064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 315.66094221956274, + -1482.4991604359598, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 314.16094221956274, + -1485.0972366473131, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 312.66094221956274, + -1487.6953128586665, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 311.16094221956274, + -1490.2933890700199, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 309.66094221956274, + -1492.8914652813733, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 308.16094221956274, + -1495.4895414927266, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 306.66094221956274, + -1498.08761770408, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 305.16094221956274, + -1500.6856939154334, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 303.66094221956274, + -1503.2837701267867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 302.16094221956274, + -1505.8818463381401, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 300.66094221956274, + -1508.4799225494935, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 299.16094221956274, + -1511.0779987608469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 297.66094221956274, + -1513.6760749722002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 296.16094221956274, + -1516.2741511835536, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 294.66094221956274, + -1518.872227394907, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 293.16094221956274, + -1521.4703036062604, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 291.66094221956274, + -1524.0683798176137, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 290.16094221956274, + -1526.666456028967, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 290.16094221956274, + -1526.666456028967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 287.5628660082094, + -1528.166456028967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 284.9647897968561, + -1529.666456028967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 282.3667135855028, + -1531.166456028967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 279.7686373741495, + -1532.666456028967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 277.17056116279616, + -1534.166456028967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 274.57248495144285, + -1535.666456028967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 271.97440874008953, + -1537.166456028967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 269.3763325287362, + -1538.666456028967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 266.7782563173829, + -1540.166456028967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 264.1801801060296, + -1541.666456028967, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1560.0, + -206.55 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-31-16_543906158/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-31-16_543906158/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2fb6f39f4603c41912b5478f78d0bf30fecd8dd4 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-31-16_543906158/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1022.3126202212793, + -2802.963910832667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1020.8126202212793, + -2805.56198704402, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1019.3126202212793, + -2808.160063255373, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1017.8126202212793, + -2810.7581394667263, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1016.3126202212793, + -2813.3562156780795, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1014.8126202212793, + -2815.9542918894326, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1013.3126202212793, + -2818.5523681007858, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1011.8126202212793, + -2821.150444312139, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1010.3126202212793, + -2823.748520523492, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1008.8126202212793, + -2826.346596734845, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1007.3126202212793, + -2828.9446729461984, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1005.8126202212793, + -2831.5427491575515, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1004.3126202212793, + -2834.1408253689046, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1002.8126202212793, + -2836.738901580258, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1001.3126202212793, + -2839.336977791611, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -999.8126202212793, + -2841.935054002964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -998.3126202212793, + -2844.533130214317, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -996.8126202212793, + -2847.1312064256704, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -995.3126202212793, + -2849.7292826370235, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -993.8126202212793, + -2852.3273588483767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -992.3126202212793, + -2854.92543505973, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -990.8126202212793, + -2857.523511271083, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -989.3126202212793, + -2860.121587482436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -987.8126202212793, + -2862.7196636937892, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -986.3126202212793, + -2865.3177399051424, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -984.8126202212793, + -2867.9158161164955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -983.3126202212793, + -2870.5138923278487, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -983.3126202212793, + -2870.5138923278487, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -983.3126202212793, + -2873.5138923278487, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -983.3126202212793, + -2876.5138923278487, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -983.3126202212793, + -2879.5138923278487, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -983.3126202212793, + -2882.5138923278487, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -983.3126202212793, + -2882.5138923278487, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -983.3126202212793, + -2882.5138923278487, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -980.7145440099259, + -2884.0138923278487, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -978.1164677985726, + -2885.5138923278487, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -975.5183915872192, + -2887.0138923278487, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -972.9203153758658, + -2888.5138923278487, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -970.3222391645124, + -2890.0138923278487, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -967.7241629531591, + -2891.5138923278487, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -965.1260867418057, + -2893.0138923278487, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -965.1260867418057, + -2893.0138923278487, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -963.6260867418057, + -2895.611968539202, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -962.1260867418057, + -2898.210044750555, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -960.6260867418057, + -2900.808120961908, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -959.1260867418057, + -2903.4061971732613, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -957.6260867418057, + -2906.0042733846144, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -956.1260867418057, + -2908.6023495959676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -954.6260867418057, + -2911.2004258073207, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -953.1260867418057, + -2913.798502018674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -951.6260867418057, + -2916.396578230027, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -950.1260867418057, + -2918.99465444138, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + -2936.0, + -205.779 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-33-8_1607967721/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-33-8_1607967721/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0e52375f0b29f4c217909502a034a36191fd3021 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-33-8_1607967721/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 202.06593971043714, + -1485.4314001915923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 202.06593971043714, + -1482.4314001915923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 202.06593971043714, + -1479.4314001915923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 202.06593971043714, + -1476.4314001915923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 202.06593971043714, + -1473.4314001915923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 202.06593971043714, + -1470.4314001915923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 202.06593971043714, + -1467.4314001915923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 202.06593971043714, + -1464.4314001915923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 202.06593971043714, + -1461.4314001915923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 202.06593971043714, + -1458.4314001915923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 202.06593971043714, + -1455.4314001915923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 202.06593971043714, + -1452.4314001915923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 202.06593971043714, + -1449.4314001915923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 202.06593971043714, + -1446.4314001915923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 202.06593971043714, + -1443.4314001915923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 202.06593971043714, + -1440.4314001915923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 202.06593971043714, + -1437.4314001915923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 202.06593971043714, + -1434.4314001915923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 202.06593971043714, + -1431.4314001915923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 202.06593971043714, + -1428.4314001915923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 202.06593971043714, + -1425.4314001915923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 202.06593971043714, + -1422.4314001915923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 202.06593971043714, + -1419.4314001915923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 202.06593971043714, + -1416.4314001915923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 202.06593971043714, + -1413.4314001915923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 202.06593971043714, + -1410.4314001915923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 202.06593971043714, + -1407.4314001915923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 202.06593971043714, + -1404.4314001915923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 202.06593971043714, + -1401.4314001915923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 202.06593971043714, + -1398.4314001915923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 202.06593971043714, + -1395.4314001915923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 202.06593971043714, + -1392.4314001915923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 202.06593971043714, + -1389.4314001915923, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 202.06593971043714, + -1389.4314001915923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 203.56593971043714, + -1386.833323980239, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 205.06593971043714, + -1384.2352477688855, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 206.56593971043714, + -1381.6371715575322, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 208.06593971043714, + -1379.0390953461788, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 209.56593971043714, + -1376.4410191348254, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 211.06593971043714, + -1373.842942923472, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 212.56593971043714, + -1371.2448667121187, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 214.06593971043714, + -1368.6467905007653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 215.56593971043714, + -1366.048714289412, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 217.06593971043714, + -1363.4506380780585, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 218.56593971043714, + -1360.8525618667052, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 220.06593971043714, + -1358.2544856553518, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 221.56593971043714, + -1355.6564094439984, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 223.06593971043714, + -1353.058333232645, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 224.56593971043714, + -1350.4602570212917, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 226.06593971043714, + -1347.8621808099383, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 227.56593971043714, + -1345.264104598585, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 229.06593971043714, + -1342.6660283872316, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 230.56593971043714, + -1340.0679521758782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 232.06593971043714, + -1337.4698759645248, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-34-34_861746410/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-34-34_861746410/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f2ae41dddd16fbc852738fd584edce3546e142c3 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-34-34_861746410/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -73.16316880459875, + -1436.0949166034475, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -74.66316880459875, + -1438.6929928148008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -76.16316880459875, + -1441.2910690261542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -77.66316880459875, + -1443.8891452375076, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -79.16316880459875, + -1446.487221448861, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -80.66316880459875, + -1449.0852976602143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -82.16316880459875, + -1451.6833738715677, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -83.66316880459875, + -1454.281450082921, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -85.16316880459875, + -1456.8795262942745, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -86.66316880459875, + -1459.4776025056278, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -88.16316880459875, + -1462.0756787169812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -89.66316880459875, + -1464.6737549283346, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -91.16316880459875, + -1467.271831139688, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -92.66316880459875, + -1469.8699073510413, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -94.16316880459875, + -1472.4679835623947, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -95.66316880459875, + -1475.066059773748, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -97.16316880459875, + -1477.6641359851014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -98.66316880459875, + -1480.2622121964548, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -100.16316880459875, + -1482.8602884078082, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -101.66316880459875, + -1485.4583646191616, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -101.66316880459875, + -1485.4583646191616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -101.66316880459875, + -1488.4583646191616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -101.66316880459875, + -1491.4583646191616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -101.66316880459875, + -1494.4583646191616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -101.66316880459875, + -1497.4583646191616, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -101.66316880459875, + -1497.4583646191616, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -101.66316880459875, + -1497.4583646191616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -104.26124501595207, + -1498.9583646191616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -106.85932122730539, + -1500.4583646191616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -109.4573974386587, + -1501.9583646191616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -112.05547365001202, + -1503.4583646191616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -114.65354986136533, + -1504.9583646191616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -117.25162607271865, + -1506.4583646191616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -119.84970228407197, + -1507.9583646191616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -122.44777849542528, + -1509.4583646191616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -125.0458547067786, + -1510.9583646191616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -127.64393091813191, + -1512.4583646191616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -130.24200712948522, + -1513.9583646191616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991492 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -132.84008334083853, + -1515.4583646191616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -135.43815955219185, + -1516.9583646191616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -138.03623576354516, + -1518.4583646191616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -140.63431197489848, + -1519.9583646191616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -143.2323881862518, + -1521.4583646191616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -145.8304643976051, + -1522.9583646191616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -148.42854060895843, + -1524.4583646191616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -151.02661682031174, + -1525.9583646191616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -153.62469303166506, + -1527.4583646191616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -156.22276924301838, + -1528.9583646191616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -158.8208454543717, + -1530.4583646191616, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -158.8208454543717, + -1530.4583646191616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -160.3208454543717, + -1533.056440830515, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -161.8208454543717, + -1535.6545170418683, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-35-31_1602182790/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-35-31_1602182790/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..364e2bfe9fec271fef132d18c7dc338e28e826fc --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-35-31_1602182790/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -815.6553269170615, + -1776.2629715693633, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -814.1553269170615, + -1778.8610477807167, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -812.6553269170615, + -1781.45912399207, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -811.1553269170615, + -1784.0572002034235, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -809.6553269170615, + -1786.6552764147768, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -808.1553269170615, + -1789.2533526261302, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -806.6553269170615, + -1791.8514288374836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -805.1553269170615, + -1794.449505048837, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -803.6553269170615, + -1797.0475812601903, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -802.1553269170615, + -1799.6456574715437, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -802.1553269170615, + -1799.6456574715437, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -802.1553269170615, + -1802.6456574715437, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -802.1553269170615, + -1805.6456574715437, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -802.1553269170615, + -1808.6456574715437, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -802.1553269170615, + -1811.6456574715437, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -802.1553269170615, + -1811.6456574715437, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -802.1553269170615, + -1811.6456574715437, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -799.5572507057082, + -1813.1456574715437, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -796.9591744943548, + -1814.6456574715437, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -794.3610982830014, + -1816.1456574715437, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -791.763022071648, + -1817.6456574715437, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -789.1649458602947, + -1819.1456574715437, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -786.5668696489413, + -1820.6456574715437, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -783.9687934375879, + -1822.1456574715437, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -781.3707172262345, + -1823.6456574715437, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -778.7726410148812, + -1825.1456574715437, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -776.1745648035278, + -1826.6456574715437, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -773.5764885921744, + -1828.1456574715437, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -770.978412380821, + -1829.6456574715437, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -768.3803361694677, + -1831.1456574715437, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -765.7822599581143, + -1832.6456574715437, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -763.1841837467609, + -1834.1456574715437, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -760.5861075354076, + -1835.6456574715437, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -757.9880313240542, + -1837.1456574715437, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -755.3899551127008, + -1838.6456574715437, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -752.7918789013474, + -1840.1456574715437, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -750.1938026899941, + -1841.6456574715437, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -747.5957264786407, + -1843.1456574715437, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -744.9976502672873, + -1844.6456574715437, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -742.399574055934, + -1846.1456574715437, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -742.399574055934, + -1846.1456574715437, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -740.899574055934, + -1848.743733682897, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -739.399574055934, + -1851.3418098942504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -737.899574055934, + -1853.9398861056038, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -736.399574055934, + -1856.5379623169572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -734.899574055934, + -1859.1360385283106, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -733.399574055934, + -1861.734114739664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -731.899574055934, + -1864.3321909510173, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -730.399574055934, + -1866.9302671623707, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -728.899574055934, + -1869.528343373724, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -727.399574055934, + -1872.1264195850774, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -725.899574055934, + -1874.7244957964308, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-42-43_517408978/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-42-43_517408978/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bb9329fd9b01270676c5fd3478e6365bdffbfb40 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-42-43_517408978/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -961.4941980180174, + -2775.276272098192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -961.4941980180174, + -2778.276272098192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -961.4941980180174, + -2781.276272098192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -961.4941980180174, + -2784.276272098192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -961.4941980180174, + -2787.276272098192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -961.4941980180174, + -2790.276272098192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -961.4941980180174, + -2793.276272098192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -961.4941980180174, + -2796.276272098192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -961.4941980180174, + -2799.276272098192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -961.4941980180174, + -2802.276272098192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -961.4941980180174, + -2805.276272098192, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -961.4941980180174, + -2805.276272098192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -959.9941980180174, + -2807.874348309545, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -958.4941980180174, + -2810.472424520898, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -956.9941980180174, + -2813.0705007322513, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -955.4941980180174, + -2815.6685769436044, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -953.9941980180174, + -2818.2666531549576, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -952.4941980180174, + -2820.8647293663107, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -950.9941980180174, + -2823.462805577664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -949.4941980180174, + -2826.060881789017, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -947.9941980180174, + -2828.65895800037, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -946.4941980180174, + -2831.2570342117233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -944.9941980180174, + -2833.8551104230764, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -943.4941980180174, + -2836.4531866344296, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -941.9941980180174, + -2839.0512628457827, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -940.4941980180174, + -2841.649339057136, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -938.9941980180174, + -2844.247415268489, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -937.4941980180174, + -2846.845491479842, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -935.9941980180174, + -2849.4435676911953, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -935.9941980180174, + -2849.4435676911953, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -935.9941980180174, + -2852.4435676911953, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -935.9941980180174, + -2855.4435676911953, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -935.9941980180174, + -2858.4435676911953, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -935.9941980180174, + -2861.4435676911953, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -935.9941980180174, + -2864.4435676911953, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -935.9941980180174, + -2867.4435676911953, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -935.9941980180174, + -2870.4435676911953, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -935.9941980180174, + -2873.4435676911953, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -935.9941980180174, + -2876.4435676911953, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -935.9941980180174, + -2879.4435676911953, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -935.9941980180174, + -2882.4435676911953, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -935.9941980180174, + -2885.4435676911953, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -935.9941980180174, + -2888.4435676911953, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -935.9941980180174, + -2891.4435676911953, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -935.9941980180174, + -2894.4435676911953, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -935.9941980180174, + -2897.4435676911953, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -935.9941980180174, + -2900.4435676911953, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -935.9941980180174, + -2903.4435676911953, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -935.9941980180174, + -2906.4435676911953, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -935.9941980180174, + -2906.4435676911953, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -937.4941980180174, + -2909.0416439025485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -938.9941980180174, + -2911.6397201139016, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -940.4941980180174, + -2914.2377963252547, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -941.9941980180174, + -2916.835872536608, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + -2936.0, + -205.779 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-44-5_504038566/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-44-5_504038566/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..80258600f95dbc10607d7917c1a2f476b4e64b7d --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-44-5_504038566/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -99.15935481066015, + -1502.680028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -101.75743102201346, + -1501.180028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -104.35550723336678, + -1499.680028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -106.9535834447201, + -1498.180028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -109.55165965607341, + -1496.680028837294, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -109.55165965607341, + -1496.680028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -112.55165965607341, + -1496.680028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -115.55165965607341, + -1496.680028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -118.55165965607341, + -1496.680028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -121.55165965607341, + -1496.680028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -124.55165965607341, + -1496.680028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -127.55165965607341, + -1496.680028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -130.5516596560734, + -1496.680028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -133.5516596560734, + -1496.680028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -136.5516596560734, + -1496.680028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -139.5516596560734, + -1496.680028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -142.5516596560734, + -1496.680028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -145.5516596560734, + -1496.680028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -148.5516596560734, + -1496.680028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -151.5516596560734, + -1496.680028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -154.5516596560734, + -1496.680028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -157.5516596560734, + -1496.680028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -160.5516596560734, + -1496.680028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -163.5516596560734, + -1496.680028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -166.5516596560734, + -1496.680028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -169.5516596560734, + -1496.680028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -172.5516596560734, + -1496.680028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -175.5516596560734, + -1496.680028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -178.5516596560734, + -1496.680028837294, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -178.5516596560734, + -1496.680028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -181.14973586742673, + -1495.180028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -183.74781207878004, + -1493.680028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -186.34588829013336, + -1492.180028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -188.94396450148668, + -1490.680028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -191.54204071284, + -1489.180028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -194.1401169241933, + -1487.680028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -196.73819313554662, + -1486.180028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -199.33626934689994, + -1484.680028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -201.93434555825326, + -1483.180028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -204.53242176960657, + -1481.680028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -207.1304979809599, + -1480.180028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -209.7285741923132, + -1478.680028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -212.32665040366652, + -1477.180028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -214.92472661501984, + -1475.680028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -217.52280282637315, + -1474.180028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -220.12087903772647, + -1472.680028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -222.71895524907978, + -1471.180028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -225.3170314604331, + -1469.680028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -227.91510767178642, + -1468.180028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -230.51318388313973, + -1466.680028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -233.11126009449305, + -1465.180028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -235.70933630584636, + -1463.680028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -238.30741251719968, + -1462.180028837294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -240.905488728553, + -1460.680028837294, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-6-33_365862802/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-6-33_365862802/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dad94f7b30fdaa03eea7fbf528974c2c6042a7b4 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-6-33_365862802/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -65.06229181289633, + -1438.6793269507546, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -66.56229181289633, + -1441.277403162108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -68.06229181289633, + -1443.8754793734613, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -69.56229181289633, + -1446.4735555848147, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -71.06229181289633, + -1449.071631796168, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -72.56229181289633, + -1451.6697080075214, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -74.06229181289633, + -1454.2677842188748, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -75.56229181289633, + -1456.8658604302282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -77.06229181289633, + -1459.4639366415815, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -78.56229181289633, + -1462.062012852935, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -80.06229181289633, + -1464.6600890642883, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -81.56229181289633, + -1467.2581652756417, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -83.06229181289633, + -1469.856241486995, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -84.56229181289633, + -1472.4543176983484, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -86.06229181289633, + -1475.0523939097018, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -87.56229181289633, + -1477.6504701210552, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -89.06229181289633, + -1480.2485463324085, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -90.56229181289633, + -1482.846622543762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -92.06229181289633, + -1485.4446987551153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -93.56229181289633, + -1488.0427749664686, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -95.06229181289633, + -1490.640851177822, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -96.56229181289633, + -1493.2389273891754, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -98.06229181289633, + -1495.8370036005288, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -98.06229181289633, + -1495.8370036005288, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -100.66036802424965, + -1497.3370036005288, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -103.25844423560297, + -1498.8370036005288, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -105.85652044695628, + -1500.3370036005288, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -108.4545966583096, + -1501.8370036005288, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -111.05267286966291, + -1503.3370036005288, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -113.65074908101623, + -1504.8370036005288, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -116.24882529236955, + -1506.3370036005288, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -118.84690150372286, + -1507.8370036005288, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -121.44497771507618, + -1509.3370036005288, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -124.0430539264295, + -1510.8370036005288, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -126.64113013778281, + -1512.3370036005288, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -129.2392063491361, + -1513.8370036005288, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991492 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -131.83728256048943, + -1515.3370036005288, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -134.43535877184274, + -1516.8370036005288, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -137.03343498319606, + -1518.3370036005288, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -139.63151119454938, + -1519.8370036005288, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -142.2295874059027, + -1521.3370036005288, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -144.827663617256, + -1522.8370036005288, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -147.42573982860932, + -1524.3370036005288, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -150.02381603996264, + -1525.8370036005288, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -152.62189225131596, + -1527.3370036005288, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -155.21996846266927, + -1528.8370036005288, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -157.8180446740226, + -1530.3370036005288, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -157.8180446740226, + -1530.3370036005288, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -159.3180446740226, + -1532.9350798118821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -160.8180446740226, + -1535.5331560232355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -162.3180446740226, + -1538.1312322345889, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-8-58_1921376925/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-8-58_1921376925/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d7fc4a13cfa23550d5ec02981d1bdef53a70f671 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-8-58_1921376925/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -828.7908053559145, + -1947.989301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -825.7908053559145, + -1947.989301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -822.7908053559145, + -1947.989301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -819.7908053559145, + -1947.989301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -816.7908053559145, + -1947.989301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -813.7908053559145, + -1947.989301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -810.7908053559145, + -1947.989301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -807.7908053559145, + -1947.989301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -804.7908053559145, + -1947.989301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -801.7908053559145, + -1947.989301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -798.7908053559145, + -1947.989301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -795.7908053559145, + -1947.989301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -792.7908053559145, + -1947.989301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -789.7908053559145, + -1947.989301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -786.7908053559145, + -1947.989301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -783.7908053559145, + -1947.989301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -780.7908053559145, + -1947.989301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -777.7908053559145, + -1947.989301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -774.7908053559145, + -1947.989301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -771.7908053559145, + -1947.989301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -768.7908053559145, + -1947.989301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -765.7908053559145, + -1947.989301180963, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -765.7908053559145, + -1947.989301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -763.1927291445611, + -1946.489301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -760.5946529332077, + -1944.989301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -757.9965767218544, + -1943.489301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -755.398500510501, + -1941.989301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -752.8004242991476, + -1940.489301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -750.2023480877942, + -1938.989301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -747.6042718764409, + -1937.489301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -745.0061956650875, + -1935.989301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -742.4081194537341, + -1934.489301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -739.8100432423807, + -1932.989301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -737.2119670310274, + -1931.489301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -734.613890819674, + -1929.989301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -732.0158146083206, + -1928.489301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -729.4177383969673, + -1926.989301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -726.8196621856139, + -1925.489301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -724.2215859742605, + -1923.989301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -721.6235097629071, + -1922.489301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -719.0254335515538, + -1920.989301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -716.4273573402004, + -1919.489301180963, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -716.4273573402004, + -1919.489301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -713.4273573402004, + -1919.489301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -710.4273573402004, + -1919.489301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -707.4273573402004, + -1919.489301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -704.4273573402004, + -1919.489301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -701.4273573402004, + -1919.489301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -698.4273573402004, + -1919.489301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -695.4273573402004, + -1919.489301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -692.4273573402004, + -1919.489301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -689.4273573402004, + -1919.489301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -686.4273573402004, + -1919.489301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -683.4273573402004, + -1919.489301180963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -680.4273573402004, + -1919.489301180963, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-10-59_765326717/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-10-59_765326717/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..59f75f3a0a99ea453746edebc4d4594f6166e7e2 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-10-59_765326717/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 410.85275180452396, + -1339.350416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 408.25467559317065, + -1337.850416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 405.65659938181733, + -1336.350416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 403.058523170464, + -1334.850416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 400.4604469591107, + -1333.350416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 397.8623707477574, + -1331.850416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 395.26429453640407, + -1330.350416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 392.66621832505075, + -1328.850416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 390.06814211369743, + -1327.350416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 387.4700659023441, + -1325.850416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 384.8719896909908, + -1324.350416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 382.2739134796375, + -1322.850416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 379.67583726828417, + -1321.350416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 377.07776105693085, + -1319.850416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 374.47968484557754, + -1318.350416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 371.8816086342242, + -1316.850416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 369.2835324228709, + -1315.350416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 366.6854562115176, + -1313.850416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 364.0873800001643, + -1312.350416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 361.48930378881096, + -1310.850416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 358.89122757745764, + -1309.350416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 356.2931513661043, + -1307.850416902542, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 356.2931513661043, + -1307.850416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 353.2931513661043, + -1307.850416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 350.2931513661043, + -1307.850416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 347.2931513661043, + -1307.850416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 344.2931513661043, + -1307.850416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 341.2931513661043, + -1307.850416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 338.2931513661043, + -1307.850416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 335.2931513661043, + -1307.850416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 332.2931513661043, + -1307.850416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 329.2931513661043, + -1307.850416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 326.2931513661043, + -1307.850416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 323.2931513661043, + -1307.850416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 320.2931513661043, + -1307.850416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 317.2931513661043, + -1307.850416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 314.2931513661043, + -1307.850416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 311.2931513661043, + -1307.850416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 308.2931513661043, + -1307.850416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 305.2931513661043, + -1307.850416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 302.2931513661043, + -1307.850416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 299.2931513661043, + -1307.850416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 296.2931513661043, + -1307.850416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 293.2931513661043, + -1307.850416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 290.2931513661043, + -1307.850416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 287.2931513661043, + -1307.850416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 284.2931513661043, + -1307.850416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 281.2931513661043, + -1307.850416902542, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 281.2931513661043, + -1307.850416902542, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 281.2931513661043, + -1307.850416902542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 279.7931513661043, + -1310.4484931138954, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 278.2931513661043, + -1313.0465693252488, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 276.7931513661043, + -1315.6446455366022, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 276.7931513661043, + -1315.6446455366022, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 274.195075154751, + -1317.1446455366022, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 271.5969989433977, + -1318.6446455366022, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-20-7_1615935710/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-20-7_1615935710/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8b193dd5011fbe84203d0fcf7033358f4ff35a20 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-20-7_1615935710/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 360.07193808121144, + -1269.2944109459454, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 357.4738618698581, + -1270.7944109459454, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 354.8757856585048, + -1272.2944109459454, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 352.2777094471515, + -1273.7944109459454, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 349.6796332357982, + -1275.2944109459454, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 347.08155702444486, + -1276.7944109459454, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 344.48348081309155, + -1278.2944109459454, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 341.88540460173823, + -1279.7944109459454, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 339.2873283903849, + -1281.2944109459454, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 336.6892521790316, + -1282.7944109459454, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 334.0911759676783, + -1284.2944109459454, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 331.49309975632497, + -1285.7944109459454, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 328.89502354497165, + -1287.2944109459454, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 326.29694733361833, + -1288.7944109459454, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 323.698871122265, + -1290.2944109459454, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 321.1007949109117, + -1291.7944109459454, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 318.5027186995584, + -1293.2944109459454, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 315.90464248820507, + -1294.7944109459454, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 313.30656627685175, + -1296.2944109459454, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 310.70849006549844, + -1297.7944109459454, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 308.1104138541451, + -1299.2944109459454, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 305.5123376427918, + -1300.7944109459454, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 302.9142614314385, + -1302.2944109459454, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 300.3161852200852, + -1303.7944109459454, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 297.71810900873186, + -1305.2944109459454, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 295.12003279737854, + -1306.7944109459454, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 292.5219565860252, + -1308.2944109459454, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 289.9238803746719, + -1309.7944109459454, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 287.3258041633186, + -1311.2944109459454, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 284.7277279519653, + -1312.7944109459454, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 282.12965174061196, + -1314.2944109459454, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 282.12965174061196, + -1314.2944109459454, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 280.62965174061196, + -1316.8924871572988, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 279.12965174061196, + -1319.4905633686521, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 277.62965174061196, + -1322.0886395800055, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 276.12965174061196, + -1324.686715791359, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 274.62965174061196, + -1327.2847920027123, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 273.12965174061196, + -1329.8828682140656, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 271.62965174061196, + -1332.480944425419, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 270.12965174061196, + -1335.0790206367724, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 268.62965174061196, + -1337.6770968481258, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 267.12965174061196, + -1340.2751730594791, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 265.62965174061196, + -1342.8732492708325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 264.12965174061196, + -1345.4713254821859, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 262.62965174061196, + -1348.0694016935392, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 261.12965174061196, + -1350.6674779048926, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 259.62965174061196, + -1353.265554116246, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-36-10_2000419805/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-36-10_2000419805/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b675aa9adabcf598ac0e76017bf64b0d622950aa --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-36-10_2000419805/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 8.504578473864868, + -1546.2455562343994, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 10.004578473864868, + -1548.8436324457527, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 11.504578473864868, + -1551.4417086571061, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 13.004578473864868, + -1554.0397848684595, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 14.504578473864868, + -1556.6378610798129, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 16.004578473864868, + -1559.2359372911662, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 17.504578473864868, + -1561.8340135025196, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 19.004578473864868, + -1564.432089713873, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 20.504578473864868, + -1567.0301659252264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 22.004578473864868, + -1569.6282421365797, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 23.504578473864868, + -1572.226318347933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 25.004578473864868, + -1574.8243945592865, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 26.504578473864868, + -1577.4224707706398, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 28.004578473864868, + -1580.0205469819932, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 29.504578473864868, + -1582.6186231933466, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 31.004578473864868, + -1585.2166994047, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 32.50457847386487, + -1587.8147756160533, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 34.00457847386487, + -1590.4128518274067, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 35.50457847386487, + -1593.01092803876, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 37.00457847386487, + -1595.6090042501135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 38.50457847386487, + -1598.2070804614668, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 40.00457847386487, + -1600.8051566728202, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 41.50457847386487, + -1603.4032328841736, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 43.00457847386487, + -1606.001309095527, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 44.50457847386487, + -1608.5993853068803, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 44.50457847386487, + -1608.5993853068803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 44.50457847386487, + -1611.5993853068803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 44.50457847386487, + -1614.5993853068803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 44.50457847386487, + -1617.5993853068803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 44.50457847386487, + -1620.5993853068803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 44.50457847386487, + -1623.5993853068803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 44.50457847386487, + -1626.5993853068803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 44.50457847386487, + -1629.5993853068803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 44.50457847386487, + -1632.5993853068803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 44.50457847386487, + -1635.5993853068803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 44.50457847386487, + -1638.5993853068803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 44.50457847386487, + -1641.5993853068803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 44.50457847386487, + -1644.5993853068803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 44.50457847386487, + -1647.5993853068803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 44.50457847386487, + -1650.5993853068803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 44.50457847386487, + -1653.5993853068803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 44.50457847386487, + -1656.5993853068803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 44.50457847386487, + -1659.5993853068803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 44.50457847386487, + -1662.5993853068803, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 44.50457847386487, + -1662.5993853068803, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 44.50457847386487, + -1662.5993853068803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 47.102654685218184, + -1664.0993853068803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 49.7007308965715, + -1665.5993853068803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 52.298807107924816, + -1667.0993853068803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 54.89688331927813, + -1668.5993853068803, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -1696.0, + -213.853 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-51-10_1140384172/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-51-10_1140384172/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a079d5c3b10370e77c98df3c9f1183ed67a78de8 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-51-10_1140384172/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 393.8596599832098, + -1407.4964904233063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 391.26158377185646, + -1405.9964904233063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 388.66350756050315, + -1404.4964904233063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 386.06543134914983, + -1402.9964904233063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 383.4673551377965, + -1401.4964904233063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 380.8692789264432, + -1399.9964904233063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 378.2712027150899, + -1398.4964904233063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 375.67312650373657, + -1396.9964904233063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 373.07505029238325, + -1395.4964904233063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 370.47697408102994, + -1393.9964904233063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 367.8788978696766, + -1392.4964904233063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 365.2808216583233, + -1390.9964904233063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 362.68274544697, + -1389.4964904233063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 360.0846692356167, + -1387.9964904233063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 357.48659302426336, + -1386.4964904233063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 354.88851681291004, + -1384.9964904233063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 352.2904406015567, + -1383.4964904233063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 349.6923643902034, + -1381.9964904233063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 347.0942881788501, + -1380.4964904233063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 344.4962119674968, + -1378.9964904233063, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 344.4962119674968, + -1378.9964904233063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 341.4962119674968, + -1378.9964904233063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 338.4962119674968, + -1378.9964904233063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 335.4962119674968, + -1378.9964904233063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 332.4962119674968, + -1378.9964904233063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 329.4962119674968, + -1378.9964904233063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 326.4962119674968, + -1378.9964904233063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 323.4962119674968, + -1378.9964904233063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 320.4962119674968, + -1378.9964904233063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 317.4962119674968, + -1378.9964904233063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 314.4962119674968, + -1378.9964904233063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 311.4962119674968, + -1378.9964904233063, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 311.4962119674968, + -1378.9964904233063, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 311.4962119674968, + -1378.9964904233063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 309.9962119674968, + -1376.398414211953, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 308.4962119674968, + -1373.8003380005996, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 306.9962119674968, + -1371.2022617892462, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 305.4962119674968, + -1368.6041855778928, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 303.9962119674968, + -1366.0061093665395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 302.4962119674968, + -1363.408033155186, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 300.9962119674968, + -1360.8099569438327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 299.4962119674968, + -1358.2118807324794, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 297.9962119674968, + -1355.613804521126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 296.4962119674968, + -1353.0157283097726, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 294.9962119674968, + -1350.4176520984192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 293.4962119674968, + -1347.8195758870659, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 293.4962119674968, + -1347.8195758870659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 290.89813575614346, + -1346.3195758870659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 288.30005954479014, + -1344.8195758870659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 285.70198333343683, + -1343.3195758870659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 283.1039071220835, + -1341.8195758870659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 280.5058309107302, + -1340.3195758870659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 277.9077546993769, + -1338.8195758870659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 275.30967848802356, + -1337.3195758870659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 272.71160227667025, + -1335.8195758870659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 270.11352606531693, + -1334.3195758870659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 267.5154498539636, + -1332.8195758870659, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-55-12_10901063/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-55-12_10901063/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8db968dbbbdfff6ed9d2b160bb74c5a391273020 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-55-12_10901063/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1000.4378799949632, + -2794.4348279119295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1000.4378799949632, + -2797.4348279119295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1000.4378799949632, + -2800.4348279119295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1000.4378799949632, + -2803.4348279119295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1000.4378799949632, + -2806.4348279119295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1000.4378799949632, + -2809.4348279119295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1000.4378799949632, + -2812.4348279119295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1000.4378799949632, + -2815.4348279119295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1000.4378799949632, + -2818.4348279119295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1000.4378799949632, + -2821.4348279119295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1000.4378799949632, + -2824.4348279119295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1000.4378799949632, + -2827.4348279119295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1000.4378799949632, + -2830.4348279119295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1000.4378799949632, + -2833.4348279119295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1000.4378799949632, + -2836.4348279119295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1000.4378799949632, + -2839.4348279119295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1000.4378799949632, + -2842.4348279119295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1000.4378799949632, + -2845.4348279119295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1000.4378799949632, + -2848.4348279119295, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1000.4378799949632, + -2848.4348279119295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -998.9378799949632, + -2851.0329041232826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -997.4378799949632, + -2853.6309803346358, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -995.9378799949632, + -2856.229056545989, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -994.4378799949632, + -2858.827132757342, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -992.9378799949632, + -2861.425208968695, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -991.4378799949632, + -2864.0232851800483, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -989.9378799949632, + -2866.6213613914015, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -988.4378799949632, + -2869.2194376027546, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -986.9378799949632, + -2871.8175138141078, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -985.4378799949632, + -2874.415590025461, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -983.9378799949632, + -2877.013666236814, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -982.4378799949632, + -2879.611742448167, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -980.9378799949632, + -2882.2098186595204, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -980.9378799949632, + -2882.2098186595204, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -980.9378799949632, + -2885.2098186595204, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -980.9378799949632, + -2885.2098186595204, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -979.4378799949632, + -2887.8078948708735, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -977.9378799949632, + -2890.4059710822266, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -976.4378799949632, + -2893.00404729358, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -974.9378799949632, + -2895.602123504933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -973.4378799949632, + -2898.200199716286, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -971.9378799949632, + -2900.798275927639, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -970.4378799949632, + -2903.3963521389924, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -968.9378799949632, + -2905.9944283503455, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -968.9378799949632, + -2905.9944283503455, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -966.3398037836098, + -2907.4944283503455, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -963.7417275722564, + -2908.9944283503455, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -961.143651360903, + -2910.4944283503455, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -958.5455751495497, + -2911.9944283503455, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -955.9474989381963, + -2913.4944283503455, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -953.3494227268429, + -2914.9944283503455, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -950.7513465154896, + -2916.4944283503455, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -948.1532703041362, + -2917.9944283503455, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -945.5551940927828, + -2919.4944283503455, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + -2936.0, + -205.779 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-8-55_74552805/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-8-55_74552805/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..54c22438a6ce61d25de9de81f15bf3194d654d32 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-8-55_74552805/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -776.5123563132361, + -2044.8793399741248, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -775.0123563132361, + -2042.2812637627715, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -773.5123563132361, + -2039.683187551418, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -772.0123563132361, + -2037.0851113400647, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -770.5123563132361, + -2034.4870351287113, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -769.0123563132361, + -2031.888958917358, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -767.5123563132361, + -2029.2908827060046, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -766.0123563132361, + -2026.6928064946512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -764.5123563132361, + -2024.0947302832978, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -763.0123563132361, + -2021.4966540719445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -761.5123563132361, + -2018.898577860591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -760.0123563132361, + -2016.3005016492377, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -758.5123563132361, + -2013.7024254378844, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -757.0123563132361, + -2011.104349226531, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -755.5123563132361, + -2008.5062730151776, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -754.0123563132361, + -2005.9081968038242, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -752.5123563132361, + -2003.3101205924709, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -751.0123563132361, + -2000.7120443811175, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -749.5123563132361, + -1998.1139681697641, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -748.0123563132361, + -1995.5158919584107, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -748.0123563132361, + -1995.5158919584107, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -745.4142801018827, + -1994.0158919584107, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -742.8162038905293, + -1992.5158919584107, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -740.218127679176, + -1991.0158919584107, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -737.6200514678226, + -1989.5158919584107, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -735.0219752564692, + -1988.0158919584107, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -732.4238990451158, + -1986.5158919584107, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -729.8258228337625, + -1985.0158919584107, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -727.2277466224091, + -1983.5158919584107, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -724.6296704110557, + -1982.0158919584107, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -722.0315941997023, + -1980.5158919584107, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -719.433517988349, + -1979.0158919584107, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -716.8354417769956, + -1977.5158919584107, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -714.2373655656422, + -1976.0158919584107, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -711.6392893542888, + -1974.5158919584107, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -709.0412131429355, + -1973.0158919584107, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -706.4431369315821, + -1971.5158919584107, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -703.8450607202287, + -1970.0158919584107, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -701.2469845088754, + -1968.5158919584107, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -698.648908297522, + -1967.0158919584107, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -696.0508320861686, + -1965.5158919584107, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -693.4527558748152, + -1964.0158919584107, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -693.4527558748152, + -1964.0158919584107, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -691.9527558748152, + -1961.4178157470574, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -690.4527558748152, + -1958.819739535704, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -688.9527558748152, + -1956.2216633243506, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -687.4527558748152, + -1953.6235871129973, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -685.9527558748152, + -1951.0255109016439, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -684.4527558748152, + -1948.4274346902905, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -682.9527558748152, + -1945.8293584789371, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -681.4527558748152, + -1943.2312822675838, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-10-19_2032454154/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-10-19_2032454154/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a5137e5f07141d6776d476305034dbbbe81d589d --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-10-19_2032454154/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -297.820190247067, + -1429.8550201218395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -296.320190247067, + -1432.453096333193, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -294.820190247067, + -1435.0511725445463, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -293.320190247067, + -1437.6492487558996, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -291.820190247067, + -1440.247324967253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -290.320190247067, + -1442.8454011786064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -288.820190247067, + -1445.4434773899598, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -287.320190247067, + -1448.0415536013131, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -285.820190247067, + -1450.6396298126665, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -284.320190247067, + -1453.2377060240199, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -282.820190247067, + -1455.8357822353732, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -281.320190247067, + -1458.4338584467266, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -279.820190247067, + -1461.03193465808, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -278.320190247067, + -1463.6300108694334, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -276.820190247067, + -1466.2280870807867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -275.320190247067, + -1468.82616329214, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -273.820190247067, + -1471.4242395034935, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -272.320190247067, + -1474.0223157148469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -270.820190247067, + -1476.6203919262002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -269.320190247067, + -1479.2184681375536, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -267.820190247067, + -1481.816544348907, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -266.320190247067, + -1484.4146205602603, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -264.820190247067, + -1487.0126967716137, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -263.320190247067, + -1489.610772982967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -261.820190247067, + -1492.2088491943205, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -260.320190247067, + -1494.8069254056738, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -258.820190247067, + -1497.4050016170272, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -257.320190247067, + -1500.0030778283806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -255.820190247067, + -1502.601154039734, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -254.320190247067, + -1505.1992302510873, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -252.820190247067, + -1507.7973064624407, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -252.820190247067, + -1507.7973064624407, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -250.22211403571367, + -1509.2973064624407, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -247.62403782436036, + -1510.7973064624407, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -245.02596161300704, + -1512.2973064624407, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -242.42788540165373, + -1513.7973064624407, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -239.8298091903004, + -1515.2973064624407, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -237.2317329789471, + -1516.7973064624407, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -234.63365676759378, + -1518.2973064624407, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -232.03558055624046, + -1519.7973064624407, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -229.43750434488715, + -1521.2973064624407, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -226.83942813353383, + -1522.7973064624407, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -224.2413519221805, + -1524.2973064624407, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -221.6432757108272, + -1525.7973064624407, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -219.04519949947388, + -1527.2973064624407, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -216.44712328812057, + -1528.7973064624407, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -213.84904707676725, + -1530.2973064624407, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -211.25097086541393, + -1531.7973064624407, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -208.65289465406062, + -1533.2973064624407, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -206.0548184427073, + -1534.7973064624407, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -203.45674223135399, + -1536.2973064624407, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -200.85866602000067, + -1537.7973064624407, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -198.26058980864735, + -1539.2973064624407, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -195.66251359729404, + -1540.7973064624407, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -193.06443738594072, + -1542.2973064624407, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-2-11_1527622954/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-2-11_1527622954/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5502595c38f146f3c28ec08b602e4701f95af77f --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-2-11_1527622954/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 411.33545811078847, + -1348.4833946723872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 408.73738189943515, + -1346.9833946723872, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 408.73738189943515, + -1346.9833946723872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 407.23738189943515, + -1344.3853184610339, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 405.73738189943515, + -1341.7872422496805, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 405.73738189943515, + -1341.7872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 403.13930568808183, + -1340.2872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 400.5412294767285, + -1338.7872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 397.9431532653752, + -1337.2872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 395.3450770540219, + -1335.7872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 392.74700084266857, + -1334.2872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 390.14892463131525, + -1332.7872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 387.55084841996194, + -1331.2872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 384.9527722086086, + -1329.7872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 382.3546959972553, + -1328.2872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 379.756619785902, + -1326.7872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 377.1585435745487, + -1325.2872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 374.56046736319536, + -1323.7872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 371.96239115184204, + -1322.2872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 369.3643149404887, + -1320.7872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 366.7662387291354, + -1319.2872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 364.1681625177821, + -1317.7872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 361.5700863064288, + -1316.2872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 358.97201009507546, + -1314.7872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 356.37393388372215, + -1313.2872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 353.77585767236883, + -1311.7872422496805, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 353.77585767236883, + -1311.7872422496805, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 353.77585767236883, + -1311.7872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 353.77585767236883, + -1308.7872422496805, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 353.77585767236883, + -1308.7872422496805, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 353.77585767236883, + -1308.7872422496805, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 353.77585767236883, + -1308.7872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 350.77585767236883, + -1308.7872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 347.77585767236883, + -1308.7872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 344.77585767236883, + -1308.7872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 341.77585767236883, + -1308.7872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 338.77585767236883, + -1308.7872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 335.77585767236883, + -1308.7872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 332.77585767236883, + -1308.7872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 329.77585767236883, + -1308.7872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 326.77585767236883, + -1308.7872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 323.77585767236883, + -1308.7872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 320.77585767236883, + -1308.7872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 317.77585767236883, + -1308.7872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 314.77585767236883, + -1308.7872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 311.77585767236883, + -1308.7872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 308.77585767236883, + -1308.7872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 305.77585767236883, + -1308.7872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 302.77585767236883, + -1308.7872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 299.77585767236883, + -1308.7872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 296.77585767236883, + -1308.7872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 293.77585767236883, + -1308.7872422496805, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 293.77585767236883, + -1308.7872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 291.1777814610155, + -1310.2872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 288.5797052496622, + -1311.7872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 285.9816290383089, + -1313.2872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 283.38355282695557, + -1314.7872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 280.78547661560225, + -1316.2872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 278.18740040424893, + -1317.7872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 275.5893241928956, + -1319.2872422496805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 272.9912479815423, + -1320.7872422496805, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-39-8_380390179/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-39-8_380390179/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6bd3ff9e2a12081ce96915c886adb41d8600881e --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-39-8_380390179/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -188.99786457987264, + -1597.8790807367154, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -190.49786457987264, + -1595.281004525362, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -191.99786457987264, + -1592.6829283140087, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -191.99786457987264, + -1592.6829283140087, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -194.59594079122596, + -1591.1829283140087, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -194.59594079122596, + -1591.1829283140087, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -196.09594079122596, + -1588.5848521026553, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -197.59594079122596, + -1585.986775891302, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -199.09594079122596, + -1583.3886996799486, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -200.59594079122596, + -1580.7906234685952, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -202.09594079122596, + -1578.1925472572418, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -203.59594079122596, + -1575.5944710458884, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -205.09594079122596, + -1572.996394834535, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -206.59594079122596, + -1570.3983186231817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -208.09594079122596, + -1567.8002424118283, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -209.59594079122596, + -1565.202166200475, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -211.09594079122596, + -1562.6040899891216, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -212.59594079122596, + -1560.0060137777682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -214.09594079122596, + -1557.4079375664148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -215.59594079122596, + -1554.8098613550615, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -217.09594079122596, + -1552.211785143708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -218.59594079122596, + -1549.6137089323547, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -220.09594079122596, + -1547.0156327210013, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -221.59594079122596, + -1544.417556509648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -223.09594079122596, + -1541.8194802982946, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -224.59594079122596, + -1539.2214040869412, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -226.09594079122596, + -1536.6233278755878, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -227.59594079122596, + -1534.0252516642345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -229.09594079122596, + -1531.427175452881, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -230.59594079122596, + -1528.8290992415277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -232.09594079122596, + -1526.2310230301744, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -233.59594079122596, + -1523.632946818821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -235.09594079122596, + -1521.0348706074676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -236.59594079122596, + -1518.4367943961142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -238.09594079122596, + -1515.8387181847609, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -239.59594079122596, + -1513.2406419734075, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -241.09594079122596, + -1510.6425657620541, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -242.59594079122596, + -1508.0444895507007, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -244.09594079122596, + -1505.4464133393474, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -245.59594079122596, + -1502.848337127994, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -247.09594079122596, + -1500.2502609166406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -248.59594079122596, + -1497.6521847052873, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -250.09594079122596, + -1495.0541084939339, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -251.59594079122596, + -1492.4560322825805, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -251.59594079122596, + -1492.4560322825805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -251.59594079122596, + -1489.4560322825805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -251.59594079122596, + -1486.4560322825805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -251.59594079122596, + -1483.4560322825805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -251.59594079122596, + -1480.4560322825805, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-5-10_1022089159/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-5-10_1022089159/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..20d554270d4be95641418328bd3edc57de475794 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-5-10_1022089159/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 404.14357452610096, + -1336.893979532486, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 405.64357452610096, + -1334.2959033211325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 407.14357452610096, + -1331.6978271097792, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 408.64357452610096, + -1329.0997508984258, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 410.14357452610096, + -1326.5016746870724, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 411.64357452610096, + -1323.903598475719, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 413.14357452610096, + -1321.3055222643657, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 413.14357452610096, + -1321.3055222643657, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 413.14357452610096, + -1318.3055222643657, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 413.14357452610096, + -1315.3055222643657, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 413.14357452610096, + -1312.3055222643657, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 413.14357452610096, + -1309.3055222643657, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 413.14357452610096, + -1306.3055222643657, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 413.14357452610096, + -1303.3055222643657, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 413.14357452610096, + -1300.3055222643657, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 413.14357452610096, + -1300.3055222643657, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 414.64357452610096, + -1297.7074460530123, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 416.14357452610096, + -1295.109369841659, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 416.14357452610096, + -1295.109369841659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 418.7416507374543, + -1293.609369841659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 421.3397269488076, + -1292.109369841659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 423.9378031601609, + -1290.609369841659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 426.5358793715142, + -1289.109369841659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 429.13395558286754, + -1287.609369841659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 431.73203179422086, + -1286.109369841659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 434.3301080055742, + -1284.609369841659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 436.9281842169275, + -1283.109369841659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 439.5262604282808, + -1281.609369841659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 442.1243366396341, + -1280.109369841659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 444.72241285098744, + -1278.609369841659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 447.32048906234076, + -1277.109369841659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 449.91856527369407, + -1275.609369841659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 452.5166414850474, + -1274.109369841659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 455.1147176964007, + -1272.609369841659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 457.712793907754, + -1271.109369841659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 460.31087011910734, + -1269.609369841659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 462.90894633046065, + -1268.109369841659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 465.50702254181397, + -1266.609369841659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 468.1050987531673, + -1265.109369841659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 470.7031749645206, + -1263.609369841659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 473.3012511758739, + -1262.109369841659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 475.89932738722723, + -1260.609369841659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 478.49740359858055, + -1259.109369841659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 481.09547980993386, + -1257.609369841659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 483.6935560212872, + -1256.109369841659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 486.2916322326405, + -1254.609369841659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 488.8897084439938, + -1253.109369841659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 491.4877846553471, + -1251.609369841659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 494.08586086670044, + -1250.109369841659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 496.68393707805376, + -1248.609369841659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 499.2820132894071, + -1247.109369841659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 501.8800895007604, + -1245.609369841659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 504.4781657121137, + -1244.109369841659, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 528.0, + -1224.0, + -203.312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-50-37_1534230297/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-50-37_1534230297/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..936a3906f4ce5dafffe1a54b206f6b10c255c01b --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-50-37_1534230297/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -789.1231417473264, + -2042.169364252718, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -787.6231417473264, + -2039.5712880413646, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -786.1231417473264, + -2036.9732118300112, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -784.6231417473264, + -2034.3751356186579, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -783.1231417473264, + -2031.7770594073045, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -781.6231417473264, + -2029.178983195951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -780.1231417473264, + -2026.5809069845977, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -778.6231417473264, + -2023.9828307732444, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -777.1231417473264, + -2021.384754561891, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -775.6231417473264, + -2018.7866783505376, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -774.1231417473264, + -2016.1886021391842, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -772.6231417473264, + -2013.5905259278309, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -771.1231417473264, + -2010.9924497164775, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -769.6231417473264, + -2008.3943735051241, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -768.1231417473264, + -2005.7962972937707, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -766.6231417473264, + -2003.1982210824174, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -765.1231417473264, + -2000.600144871064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -763.6231417473264, + -1998.0020686597106, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -762.1231417473264, + -1995.4039924483573, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -760.6231417473264, + -1992.8059162370039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -759.1231417473264, + -1990.2078400256505, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -757.6231417473264, + -1987.6097638142971, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -756.1231417473264, + -1985.0116876029438, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -754.6231417473264, + -1982.4136113915904, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -753.1231417473264, + -1979.815535180237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -751.6231417473264, + -1977.2174589688836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -750.1231417473264, + -1974.6193827575303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -748.6231417473264, + -1972.021306546177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -747.1231417473264, + -1969.4232303348235, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -745.6231417473264, + -1966.8251541234702, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -744.1231417473264, + -1964.2270779121168, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -742.6231417473264, + -1961.6290017007634, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -741.1231417473264, + -1959.03092548941, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -739.6231417473264, + -1956.4328492780567, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -738.1231417473264, + -1953.8347730667033, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -736.6231417473264, + -1951.23669685535, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -735.1231417473264, + -1948.6386206439965, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -733.6231417473264, + -1946.0405444326432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -732.1231417473264, + -1943.4424682212898, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -730.6231417473264, + -1940.8443920099364, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -729.1231417473264, + -1938.246315798583, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -729.1231417473264, + -1938.246315798583, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -729.1231417473264, + -1935.246315798583, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -729.1231417473264, + -1932.246315798583, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -729.1231417473264, + -1929.246315798583, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -729.1231417473264, + -1926.246315798583, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -729.1231417473264, + -1926.246315798583, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -729.1231417473264, + -1926.246315798583, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -726.525065535973, + -1924.746315798583, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -723.9269893246196, + -1923.246315798583, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -721.3289131132663, + -1921.746315798583, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-8-15_1597141723/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-8-15_1597141723/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1dfde40717c00a20a3ae35dea61d6ba5e66a5000 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-8-15_1597141723/pose.jsonl @@ -0,0 +1,834 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 405.31906431573657, + -1316.9550870126318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 402.72098810438325, + -1315.4550870126318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 400.12291189302994, + -1313.9550870126318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 397.5248356816766, + -1312.4550870126318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 394.9267594703233, + -1310.9550870126318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 392.32868325897, + -1309.4550870126318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 389.7306070476167, + -1307.9550870126318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 387.13253083626336, + -1306.4550870126318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 384.53445462491004, + -1304.9550870126318, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 384.53445462491004, + -1304.9550870126318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 381.53445462491004, + -1304.9550870126318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 378.53445462491004, + -1304.9550870126318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 375.53445462491004, + -1304.9550870126318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 372.53445462491004, + -1304.9550870126318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 369.53445462491004, + -1304.9550870126318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 366.53445462491004, + -1304.9550870126318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 363.53445462491004, + -1304.9550870126318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 360.53445462491004, + -1304.9550870126318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 357.53445462491004, + -1304.9550870126318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 354.53445462491004, + -1304.9550870126318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 351.53445462491004, + -1304.9550870126318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 348.53445462491004, + -1304.9550870126318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 345.53445462491004, + -1304.9550870126318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 342.53445462491004, + -1304.9550870126318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 339.53445462491004, + -1304.9550870126318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 336.53445462491004, + -1304.9550870126318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 333.53445462491004, + -1304.9550870126318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 330.53445462491004, + -1304.9550870126318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 327.53445462491004, + -1304.9550870126318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 324.53445462491004, + -1304.9550870126318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 321.53445462491004, + -1304.9550870126318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 318.53445462491004, + -1304.9550870126318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 315.53445462491004, + -1304.9550870126318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 312.53445462491004, + -1304.9550870126318, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 312.53445462491004, + -1304.9550870126318, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 312.53445462491004, + -1304.9550870126318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 311.03445462491004, + -1307.5531632239852, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 309.53445462491004, + -1310.1512394353385, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 308.03445462491004, + -1312.749315646692, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 306.53445462491004, + -1315.3473918580453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 305.03445462491004, + -1317.9454680693987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 303.53445462491004, + -1320.543544280752, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 302.03445462491004, + -1323.1416204921054, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 300.53445462491004, + -1325.7396967034588, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 299.03445462491004, + -1328.3377729148121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 297.53445462491004, + -1330.9358491261655, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 296.03445462491004, + -1333.533925337519, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 294.53445462491004, + -1336.1320015488723, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 293.03445462491004, + -1338.7300777602256, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 291.53445462491004, + -1341.328153971579, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 290.03445462491004, + -1343.9262301829324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 288.53445462491004, + -1346.5243063942858, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 287.03445462491004, + -1349.1223826056391, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 285.53445462491004, + -1351.7204588169925, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 285.53445462491004, + -1351.7204588169925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 282.9363784135567, + -1353.2204588169925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 280.3383022022034, + -1354.7204588169925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 277.7402259908501, + -1356.2204588169925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 275.1421497794968, + -1357.7204588169925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 272.54407356814346, + -1359.2204588169925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 269.94599735679014, + -1360.7204588169925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 267.3479211454368, + -1362.2204588169925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 264.7498449340835, + -1363.7204588169925, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-0-15_226723382/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-0-15_226723382/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bee9e95da2c90cc7419a8345d53de39ea56cb602 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-0-15_226723382/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 206.35614371040822, + -1482.9281337130951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 206.35614371040822, + -1479.9281337130951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 206.35614371040822, + -1476.9281337130951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 206.35614371040822, + -1473.9281337130951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 206.35614371040822, + -1470.9281337130951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 206.35614371040822, + -1467.9281337130951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 206.35614371040822, + -1464.9281337130951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 206.35614371040822, + -1461.9281337130951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 206.35614371040822, + -1458.9281337130951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 206.35614371040822, + -1455.9281337130951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 206.35614371040822, + -1452.9281337130951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 206.35614371040822, + -1449.9281337130951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 206.35614371040822, + -1446.9281337130951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 206.35614371040822, + -1443.9281337130951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 206.35614371040822, + -1440.9281337130951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 206.35614371040822, + -1437.9281337130951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 206.35614371040822, + -1434.9281337130951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 206.35614371040822, + -1431.9281337130951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 206.35614371040822, + -1428.9281337130951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 206.35614371040822, + -1425.9281337130951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 206.35614371040822, + -1422.9281337130951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 206.35614371040822, + -1419.9281337130951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 206.35614371040822, + -1416.9281337130951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 206.35614371040822, + -1413.9281337130951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 206.35614371040822, + -1410.9281337130951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 206.35614371040822, + -1407.9281337130951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 206.35614371040822, + -1404.9281337130951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 206.35614371040822, + -1401.9281337130951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 206.35614371040822, + -1398.9281337130951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 206.35614371040822, + -1395.9281337130951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 206.35614371040822, + -1392.9281337130951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 206.35614371040822, + -1389.9281337130951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 206.35614371040822, + -1386.9281337130951, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 206.35614371040822, + -1386.9281337130951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 207.85614371040822, + -1384.3300575017417, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 209.35614371040822, + -1381.7319812903884, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 210.85614371040822, + -1379.133905079035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 212.35614371040822, + -1376.5358288676816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 213.85614371040822, + -1373.9377526563283, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 215.35614371040822, + -1371.3396764449749, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 216.85614371040822, + -1368.7416002336215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 218.35614371040822, + -1366.1435240222681, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 219.85614371040822, + -1363.5454478109148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 221.35614371040822, + -1360.9473715995614, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 222.85614371040822, + -1358.349295388208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 224.35614371040822, + -1355.7512191768546, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 225.85614371040822, + -1353.1531429655013, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 227.35614371040822, + -1350.555066754148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 228.85614371040822, + -1347.9569905427945, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 230.35614371040822, + -1345.3589143314412, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 231.85614371040822, + -1342.7608381200878, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 233.35614371040822, + -1340.1627619087344, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 234.85614371040822, + -1337.564685697381, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-13-2_1326247643/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-13-2_1326247643/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4ee5921894c434a714c399f4612df2ff1f8c317a --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-13-2_1326247643/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 406.64371182228984, + -1347.9808377937845, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 409.64371182228984, + -1347.9808377937845, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 412.64371182228984, + -1347.9808377937845, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 415.64371182228984, + -1347.9808377937845, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 418.64371182228984, + -1347.9808377937845, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 421.64371182228984, + -1347.9808377937845, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 424.64371182228984, + -1347.9808377937845, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 427.64371182228984, + -1347.9808377937845, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 430.64371182228984, + -1347.9808377937845, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 433.64371182228984, + -1347.9808377937845, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 433.64371182228984, + -1347.9808377937845, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 436.24178803364316, + -1346.4808377937845, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 438.8398642449965, + -1344.9808377937845, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 441.4379404563498, + -1343.4808377937845, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 444.0360166677031, + -1341.9808377937845, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 446.6340928790564, + -1340.4808377937845, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 449.23216909040974, + -1338.9808377937845, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 451.83024530176306, + -1337.4808377937845, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 454.4283215131164, + -1335.9808377937845, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 454.4283215131164, + -1335.9808377937845, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 455.9283215131164, + -1333.3827615824312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 457.4283215131164, + -1330.7846853710778, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 458.9283215131164, + -1328.1866091597244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 460.4283215131164, + -1325.588532948371, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 461.9283215131164, + -1322.9904567370177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 463.4283215131164, + -1320.3923805256643, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 464.9283215131164, + -1317.794304314311, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 466.4283215131164, + -1315.1962281029575, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 467.9283215131164, + -1312.5981518916042, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 469.4283215131164, + -1310.0000756802508, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 470.9283215131164, + -1307.4019994688974, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 472.4283215131164, + -1304.803923257544, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 473.9283215131164, + -1302.2058470461907, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 475.4283215131164, + -1299.6077708348373, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 476.9283215131164, + -1297.009694623484, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 478.4283215131164, + -1294.4116184121306, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 479.9283215131164, + -1291.8135422007772, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 481.4283215131164, + -1289.2154659894238, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 482.9283215131164, + -1286.6173897780704, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 484.4283215131164, + -1284.019313566717, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 485.9283215131164, + -1281.4212373553637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 487.4283215131164, + -1278.8231611440103, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 488.9283215131164, + -1276.225084932657, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 490.4283215131164, + -1273.6270087213036, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 491.9283215131164, + -1271.0289325099502, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 493.4283215131164, + -1268.4308562985968, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 494.9283215131164, + -1265.8327800872435, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 496.4283215131164, + -1263.23470387589, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 497.9283215131164, + -1260.6366276645367, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 499.4283215131164, + -1258.0385514531833, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 500.9283215131164, + -1255.44047524183, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 502.4283215131164, + -1252.8423990304766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 503.9283215131164, + -1250.2443228191232, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 528.0, + -1224.0, + -203.312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-14-32_610506582/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-14-32_610506582/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f2d9109b17b3282d402d5f0ea9df00a9537d2fbc --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-14-32_610506582/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1032.645536536351, + -2804.174593206584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1031.145536536351, + -2806.7726694179373, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1029.645536536351, + -2809.3707456292905, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1028.145536536351, + -2811.9688218406436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1026.645536536351, + -2814.5668980519968, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1025.145536536351, + -2817.16497426335, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1023.6455365363511, + -2819.763050474703, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1022.1455365363511, + -2822.361126686056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1020.6455365363511, + -2824.9592028974093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1019.1455365363511, + -2827.5572791087625, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1017.6455365363511, + -2830.1553553201156, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1016.1455365363511, + -2832.753431531469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1014.6455365363511, + -2835.351507742822, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1013.1455365363511, + -2837.949583954175, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1011.6455365363511, + -2840.547660165528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1010.1455365363511, + -2843.1457363768814, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1008.6455365363511, + -2845.7438125882345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1007.1455365363511, + -2848.3418887995877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1005.6455365363511, + -2850.939965010941, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1004.1455365363511, + -2853.538041222294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1002.6455365363511, + -2856.136117433647, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1001.1455365363511, + -2858.7341936450002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -999.6455365363511, + -2861.3322698563534, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -998.1455365363511, + -2863.9303460677065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -996.6455365363511, + -2866.5284222790597, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -995.1455365363511, + -2869.126498490413, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -993.6455365363511, + -2871.724574701766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -992.1455365363511, + -2874.322650913119, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -990.6455365363511, + -2876.9207271244723, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -989.1455365363511, + -2879.5188033358254, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -987.6455365363511, + -2882.1168795471785, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -986.1455365363511, + -2884.7149557585317, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -984.6455365363511, + -2887.313031969885, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -983.1455365363511, + -2889.911108181238, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -981.6455365363511, + -2892.509184392591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -980.1455365363511, + -2895.1072606039443, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -978.6455365363511, + -2897.7053368152974, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -977.1455365363511, + -2900.3034130266506, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -975.6455365363511, + -2902.9014892380037, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -974.1455365363511, + -2905.499565449357, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -974.1455365363511, + -2905.499565449357, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -971.5474603249977, + -2906.999565449357, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -968.9493841136443, + -2908.499565449357, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -966.351307902291, + -2909.999565449357, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -963.7532316909376, + -2911.499565449357, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -961.1551554795842, + -2912.999565449357, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -958.5570792682308, + -2914.499565449357, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -955.9590030568775, + -2915.999565449357, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -953.3609268455241, + -2917.499565449357, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -953.3609268455241, + -2917.499565449357, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -951.8609268455241, + -2920.09764166071, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.047197551196588 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + -2936.0, + -205.779 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-18-59_216220853/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-18-59_216220853/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0f3d516f96af35367ddf4b5cde947c9c6db216c5 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-18-59_216220853/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -85.138840053659, + -1412.03875207847, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -86.638840053659, + -1414.6368282898234, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -88.138840053659, + -1417.2349045011767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -89.638840053659, + -1419.8329807125301, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -91.138840053659, + -1422.4310569238835, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -92.638840053659, + -1425.0291331352369, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -94.138840053659, + -1427.6272093465902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -95.638840053659, + -1430.2252855579436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -97.138840053659, + -1432.823361769297, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -97.138840053659, + -1432.823361769297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -99.73691626501231, + -1434.323361769297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -102.33499247636563, + -1435.823361769297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -104.93306868771894, + -1437.323361769297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -107.53114489907226, + -1438.823361769297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -110.12922111042558, + -1440.323361769297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -112.72729732177889, + -1441.823361769297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -115.32537353313221, + -1443.323361769297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -117.92344974448552, + -1444.823361769297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -120.52152595583884, + -1446.323361769297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -123.11960216719216, + -1447.823361769297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -125.71767837854547, + -1449.323361769297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -128.3157545898988, + -1450.823361769297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -130.91383080125212, + -1452.323361769297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -133.51190701260543, + -1453.823361769297, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -133.51190701260543, + -1453.823361769297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -135.01190701260543, + -1456.4214379806504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -136.51190701260543, + -1459.0195141920037, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -138.01190701260543, + -1461.617590403357, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -139.51190701260543, + -1464.2156666147105, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -141.01190701260543, + -1466.8137428260638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -142.51190701260543, + -1469.4118190374172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -144.01190701260543, + -1472.0098952487706, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -145.51190701260543, + -1474.607971460124, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -147.01190701260543, + -1477.2060476714773, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -148.51190701260543, + -1479.8041238828307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -150.01190701260543, + -1482.402200094184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -151.51190701260543, + -1485.0002763055375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -153.01190701260543, + -1487.5983525168908, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -154.51190701260543, + -1490.1964287282442, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -156.01190701260543, + -1492.7945049395976, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -157.51190701260543, + -1495.392581150951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -159.01190701260543, + -1497.9906573623043, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -160.51190701260543, + -1500.5887335736577, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -162.01190701260543, + -1503.186809785011, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -163.51190701260543, + -1505.7848859963644, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -165.01190701260543, + -1508.3829622077178, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -165.01190701260543, + -1508.3829622077178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -165.01190701260543, + -1511.3829622077178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -165.01190701260543, + -1514.3829622077178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -165.01190701260543, + -1517.3829622077178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -165.01190701260543, + -1520.3829622077178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -165.01190701260543, + -1523.3829622077178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -165.01190701260543, + -1526.3829622077178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -165.01190701260543, + -1529.3829622077178, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-27-57_1012836610/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-27-57_1012836610/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a8560c6f6717ee0fc7759e55940ffb905f1dfecd --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-27-57_1012836610/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 320.81951741735486, + -1465.3769654471998, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 319.31951741735486, + -1462.7788892358465, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 317.81951741735486, + -1460.180813024493, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 316.31951741735486, + -1457.5827368131397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 314.81951741735486, + -1454.9846606017863, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 313.31951741735486, + -1452.386584390433, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 311.81951741735486, + -1449.7885081790796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 310.31951741735486, + -1447.1904319677262, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 308.81951741735486, + -1444.5923557563729, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 307.31951741735486, + -1441.9942795450195, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 305.81951741735486, + -1439.396203333666, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 304.31951741735486, + -1436.7981271223127, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 302.81951741735486, + -1434.2000509109594, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 301.31951741735486, + -1431.601974699606, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 299.81951741735486, + -1429.0038984882526, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 298.31951741735486, + -1426.4058222768992, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 296.81951741735486, + -1423.8077460655459, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 295.31951741735486, + -1421.2096698541925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 293.81951741735486, + -1418.6115936428391, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 292.31951741735486, + -1416.0135174314858, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 290.81951741735486, + -1413.4154412201324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 289.31951741735486, + -1410.817365008779, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 287.81951741735486, + -1408.2192887974256, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 286.31951741735486, + -1405.6212125860723, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 284.81951741735486, + -1403.023136374719, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 283.31951741735486, + -1400.4250601633655, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 281.81951741735486, + -1397.8269839520121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 280.31951741735486, + -1395.2289077406588, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 278.81951741735486, + -1392.6308315293054, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 277.31951741735486, + -1390.032755317952, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 275.81951741735486, + -1387.4346791065987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 274.31951741735486, + -1384.8366028952453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 272.81951741735486, + -1382.238526683892, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 271.31951741735486, + -1379.6404504725385, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 269.81951741735486, + -1377.0423742611852, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 268.31951741735486, + -1374.4442980498318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 266.81951741735486, + -1371.8462218384784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 265.31951741735486, + -1369.248145627125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 263.81951741735486, + -1366.6500694157717, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 263.81951741735486, + -1366.6500694157717, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 263.81951741735486, + -1363.6500694157717, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 263.81951741735486, + -1360.6500694157717, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 263.81951741735486, + -1357.6500694157717, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 263.81951741735486, + -1357.6500694157717, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 262.31951741735486, + -1355.0519932044183, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 260.81951741735486, + -1352.453916993065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 259.31951741735486, + -1349.8558407817115, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 257.81951741735486, + -1347.2577645703582, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 256.31951741735486, + -1344.6596883590048, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 254.81951741735486, + -1342.0616121476514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 253.31951741735486, + -1339.463535936298, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-28-56_481928577/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-28-56_481928577/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e6d67a63a334fd603cb01f8fcf1484ff0f83990c --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-28-56_481928577/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -96.44090264759728, + -1418.3949061316205, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -97.94090264759728, + -1420.9929823429738, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -99.44090264759728, + -1423.5910585543272, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -100.94090264759728, + -1426.1891347656806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -102.44090264759728, + -1428.787210977034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -103.94090264759728, + -1431.3852871883873, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -105.44090264759728, + -1433.9833633997407, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -106.94090264759728, + -1436.581439611094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -108.44090264759728, + -1439.1795158224475, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -109.94090264759728, + -1441.7775920338008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -111.44090264759728, + -1444.3756682451542, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -111.44090264759728, + -1444.3756682451542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -114.0389788589506, + -1445.8756682451542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -116.63705507030392, + -1447.3756682451542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -119.23513128165723, + -1448.8756682451542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -121.83320749301055, + -1450.3756682451542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -124.43128370436386, + -1451.8756682451542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -127.02935991571718, + -1453.3756682451542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -129.6274361270705, + -1454.8756682451542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -132.2255123384238, + -1456.3756682451542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -134.82358854977713, + -1457.8756682451542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -137.42166476113044, + -1459.3756682451542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -140.01974097248376, + -1460.8756682451542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -142.61781718383708, + -1462.3756682451542, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -142.61781718383708, + -1462.3756682451542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -144.11781718383708, + -1464.9737444565076, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -145.61781718383708, + -1467.571820667861, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -147.11781718383708, + -1470.1698968792143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -148.61781718383708, + -1472.7679730905677, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -150.11781718383708, + -1475.366049301921, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -151.61781718383708, + -1477.9641255132744, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -153.11781718383708, + -1480.5622017246278, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -154.61781718383708, + -1483.1602779359812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -156.11781718383708, + -1485.7583541473346, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -157.61781718383708, + -1488.356430358688, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -159.11781718383708, + -1490.9545065700413, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -160.61781718383708, + -1493.5525827813947, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -162.11781718383708, + -1496.150658992748, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -163.61781718383708, + -1498.7487352041014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -165.11781718383708, + -1501.3468114154548, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -165.11781718383708, + -1501.3468114154548, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -165.11781718383708, + -1504.3468114154548, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -165.11781718383708, + -1507.3468114154548, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -165.11781718383708, + -1510.3468114154548, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -165.11781718383708, + -1513.3468114154548, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -165.11781718383708, + -1516.3468114154548, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -165.11781718383708, + -1519.3468114154548, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -165.11781718383708, + -1522.3468114154548, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -165.11781718383708, + -1525.3468114154548, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -165.11781718383708, + -1528.3468114154548, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-44-4_1916250774/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-44-4_1916250774/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e7d26c2092763bba800cf84cb5b131bf616fcd79 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-44-4_1916250774/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -111.44112910899472, + -1406.578708358032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -112.94112910899472, + -1409.1767845693853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -114.44112910899472, + -1411.7748607807387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -115.94112910899472, + -1414.372936992092, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -117.44112910899472, + -1416.9710132034454, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -118.94112910899472, + -1419.5690894147988, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -120.44112910899472, + -1422.1671656261522, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -121.94112910899472, + -1424.7652418375055, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -123.44112910899472, + -1427.363318048859, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -124.94112910899472, + -1429.9613942602123, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -126.44112910899472, + -1432.5594704715656, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -127.94112910899472, + -1435.157546682919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -129.44112910899472, + -1437.7556228942724, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -130.94112910899472, + -1440.3536991056258, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -132.44112910899472, + -1442.9517753169791, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -133.94112910899472, + -1445.5498515283325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -135.44112910899472, + -1448.1479277396859, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -136.94112910899472, + -1450.7460039510393, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -138.44112910899472, + -1453.3440801623926, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -139.94112910899472, + -1455.942156373746, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -141.44112910899472, + -1458.5402325850994, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -142.94112910899472, + -1461.1383087964527, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -144.44112910899472, + -1463.7363850078061, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -145.94112910899472, + -1466.3344612191595, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -147.44112910899472, + -1468.9325374305129, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -148.94112910899472, + -1471.5306136418662, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -150.44112910899472, + -1474.1286898532196, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -151.94112910899472, + -1476.726766064573, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -153.44112910899472, + -1479.3248422759264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -154.94112910899472, + -1481.9229184872797, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -156.44112910899472, + -1484.520994698633, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -157.94112910899472, + -1487.1190709099865, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -159.44112910899472, + -1489.7171471213398, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -160.94112910899472, + -1492.3152233326932, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -162.44112910899472, + -1494.9132995440466, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -163.94112910899472, + -1497.5113757554, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -163.94112910899472, + -1497.5113757554, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -163.94112910899472, + -1500.5113757554, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -163.94112910899472, + -1503.5113757554, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -163.94112910899472, + -1506.5113757554, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -163.94112910899472, + -1509.5113757554, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -163.94112910899472, + -1512.5113757554, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -163.94112910899472, + -1515.5113757554, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -163.94112910899472, + -1518.5113757554, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-49-50_1539942439/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-49-50_1539942439/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..52b114ac45c4693b4ce98746a230c5decb9beeff --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-49-50_1539942439/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -821.6284121987183, + -1778.8738415816504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -820.1284121987183, + -1781.4719177930037, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -818.6284121987183, + -1784.069994004357, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -817.1284121987183, + -1786.6680702157105, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -815.6284121987183, + -1789.2661464270639, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -814.1284121987183, + -1791.8642226384172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -812.6284121987183, + -1794.4622988497706, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -811.1284121987183, + -1797.060375061124, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -809.6284121987183, + -1799.6584512724774, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -808.1284121987183, + -1802.2565274838307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -806.6284121987183, + -1804.854603695184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -805.1284121987183, + -1807.4526799065375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -803.6284121987183, + -1810.0507561178908, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -802.1284121987183, + -1812.6488323292442, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -800.6284121987183, + -1815.2469085405976, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -799.1284121987183, + -1817.844984751951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -797.6284121987183, + -1820.4430609633043, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -796.1284121987183, + -1823.0411371746577, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -794.6284121987183, + -1825.639213386011, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -793.1284121987183, + -1828.2372895973645, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -791.6284121987183, + -1830.8353658087178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -790.1284121987183, + -1833.4334420200712, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -790.1284121987183, + -1833.4334420200712, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -787.5303359873649, + -1834.9334420200712, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -784.9322597760115, + -1836.4334420200712, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -782.3341835646581, + -1837.9334420200712, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -779.7361073533048, + -1839.4334420200712, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -777.1380311419514, + -1840.9334420200712, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -774.539954930598, + -1842.4334420200712, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -771.9418787192446, + -1843.9334420200712, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -769.3438025078913, + -1845.4334420200712, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -766.7457262965379, + -1846.9334420200712, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -764.1476500851845, + -1848.4334420200712, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -761.5495738738312, + -1849.9334420200712, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -758.9514976624778, + -1851.4334420200712, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -756.3534214511244, + -1852.9334420200712, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -753.755345239771, + -1854.4334420200712, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -751.1572690284177, + -1855.9334420200712, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -748.5591928170643, + -1857.4334420200712, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -745.9611166057109, + -1858.9334420200712, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -743.3630403943575, + -1860.4334420200712, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -740.7649641830042, + -1861.9334420200712, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -738.1668879716508, + -1863.4334420200712, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -735.5688117602974, + -1864.9334420200712, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -732.970735548944, + -1866.4334420200712, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -730.3726593375907, + -1867.9334420200712, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -730.3726593375907, + -1867.9334420200712, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -728.8726593375907, + -1870.5315182314246, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -727.3726593375907, + -1873.129594442778, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-58-7_1738076217/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-58-7_1738076217/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e369cff169b0a485624bbd2caf2009b02ff640cf --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-58-7_1738076217/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -155.08857700893552, + -1565.693758735421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -155.08857700893552, + -1562.693758735421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -155.08857700893552, + -1559.693758735421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -155.08857700893552, + -1556.693758735421, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -155.08857700893552, + -1556.693758735421, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -155.08857700893552, + -1556.693758735421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -157.68665322028883, + -1555.193758735421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -160.28472943164215, + -1553.693758735421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -162.88280564299546, + -1552.193758735421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -165.48088185434878, + -1550.693758735421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -168.0789580657021, + -1549.193758735421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -170.6770342770554, + -1547.693758735421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -173.27511048840873, + -1546.193758735421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -175.87318669976204, + -1544.693758735421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -178.47126291111536, + -1543.193758735421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -181.06933912246868, + -1541.693758735421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -183.667415333822, + -1540.193758735421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -186.2654915451753, + -1538.693758735421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -188.86356775652862, + -1537.193758735421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -191.46164396788194, + -1535.693758735421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -194.05972017923526, + -1534.193758735421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -196.65779639058857, + -1532.693758735421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -199.2558726019419, + -1531.193758735421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -201.8539488132952, + -1529.693758735421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -204.45202502464852, + -1528.193758735421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -207.05010123600184, + -1526.693758735421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -209.64817744735515, + -1525.193758735421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -212.24625365870847, + -1523.693758735421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -214.84432987006178, + -1522.193758735421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -217.4424060814151, + -1520.693758735421, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -217.4424060814151, + -1520.693758735421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -218.9424060814151, + -1518.0956825240676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -220.4424060814151, + -1515.4976063127142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -221.9424060814151, + -1512.8995301013608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -223.4424060814151, + -1510.3014538900075, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -224.9424060814151, + -1507.703377678654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -226.4424060814151, + -1505.1053014673007, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -227.9424060814151, + -1502.5072252559473, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -229.4424060814151, + -1499.909149044594, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -230.9424060814151, + -1497.3110728332406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -232.4424060814151, + -1494.7129966218872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -233.9424060814151, + -1492.1149204105338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -235.4424060814151, + -1489.5168441991805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -236.9424060814151, + -1486.918767987827, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -238.4424060814151, + -1484.3206917764737, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -239.9424060814151, + -1481.7226155651203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -241.4424060814151, + -1479.124539353767, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-16-17_1671581032/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-16-17_1671581032/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..44773a069f3a9c0edbf9214af84728fca7223ebb --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-16-17_1671581032/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 368.51553962109074, + -1294.2941968345963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 365.9174634097374, + -1295.7941968345963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 363.3193871983841, + -1297.2941968345963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 360.7213109870308, + -1298.7941968345963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 358.1232347756775, + -1300.2941968345963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 355.52515856432416, + -1301.7941968345963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 352.92708235297084, + -1303.2941968345963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 350.3290061416175, + -1304.7941968345963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 347.7309299302642, + -1306.2941968345963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 345.1328537189109, + -1307.7941968345963, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 345.1328537189109, + -1307.7941968345963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 342.1328537189109, + -1307.7941968345963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 339.1328537189109, + -1307.7941968345963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 336.1328537189109, + -1307.7941968345963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 333.1328537189109, + -1307.7941968345963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 330.1328537189109, + -1307.7941968345963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 327.1328537189109, + -1307.7941968345963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 324.1328537189109, + -1307.7941968345963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 321.1328537189109, + -1307.7941968345963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 318.1328537189109, + -1307.7941968345963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 315.1328537189109, + -1307.7941968345963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 312.1328537189109, + -1307.7941968345963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 309.1328537189109, + -1307.7941968345963, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 309.1328537189109, + -1307.7941968345963, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 309.1328537189109, + -1307.7941968345963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 307.6328537189109, + -1310.3922730459497, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 306.1328537189109, + -1312.990349257303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 304.6328537189109, + -1315.5884254686564, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 303.1328537189109, + -1318.1865016800098, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 301.6328537189109, + -1320.7845778913631, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 300.1328537189109, + -1323.3826541027165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 298.6328537189109, + -1325.98073031407, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 297.1328537189109, + -1328.5788065254233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 295.6328537189109, + -1331.1768827367766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 294.1328537189109, + -1333.77495894813, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 292.6328537189109, + -1336.3730351594834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 291.1328537189109, + -1338.9711113708368, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 289.6328537189109, + -1341.5691875821901, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 288.1328537189109, + -1344.1672637935435, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 286.6328537189109, + -1346.7653400048969, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 286.6328537189109, + -1346.7653400048969, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 284.0347775075576, + -1348.2653400048969, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 281.43670129620426, + -1349.7653400048969, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 278.83862508485095, + -1351.2653400048969, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 276.24054887349763, + -1352.7653400048969, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 273.6424726621443, + -1354.2653400048969, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 271.044396450791, + -1355.7653400048969, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 268.4463202394377, + -1357.2653400048969, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 265.84824402808437, + -1358.7653400048969, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-18-6_878273679/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-18-6_878273679/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ac606ee9d98f549bb002176a3bb9036335349755 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-18-6_878273679/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -961.6131326593493, + -2772.5272339829717, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -961.6131326593493, + -2775.5272339829717, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -961.6131326593493, + -2778.5272339829717, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -961.6131326593493, + -2781.5272339829717, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -961.6131326593493, + -2784.5272339829717, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -961.6131326593493, + -2787.5272339829717, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -961.6131326593493, + -2790.5272339829717, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -961.6131326593493, + -2793.5272339829717, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -961.6131326593493, + -2796.5272339829717, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -961.6131326593493, + -2799.5272339829717, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -961.6131326593493, + -2802.5272339829717, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -961.6131326593493, + -2802.5272339829717, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -960.1131326593493, + -2805.125310194325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -958.6131326593493, + -2807.723386405678, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -957.1131326593493, + -2810.321462617031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -955.6131326593493, + -2812.9195388283842, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -954.1131326593493, + -2815.5176150397374, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -952.6131326593493, + -2818.1156912510905, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -951.1131326593493, + -2820.7137674624437, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -949.6131326593493, + -2823.311843673797, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -948.1131326593493, + -2825.90991988515, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -946.6131326593493, + -2828.507996096503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -945.1131326593493, + -2831.1060723078563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -943.6131326593493, + -2833.7041485192094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -942.1131326593493, + -2836.3022247305626, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -940.6131326593493, + -2838.9003009419157, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -939.1131326593493, + -2841.498377153269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -937.6131326593493, + -2844.096453364622, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -936.1131326593493, + -2846.694529575975, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -936.1131326593493, + -2846.694529575975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -936.1131326593493, + -2849.694529575975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -936.1131326593493, + -2852.694529575975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -936.1131326593493, + -2855.694529575975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -936.1131326593493, + -2858.694529575975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -936.1131326593493, + -2861.694529575975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -936.1131326593493, + -2864.694529575975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -936.1131326593493, + -2867.694529575975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -936.1131326593493, + -2870.694529575975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -936.1131326593493, + -2873.694529575975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -936.1131326593493, + -2876.694529575975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -936.1131326593493, + -2879.694529575975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -936.1131326593493, + -2882.694529575975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -936.1131326593493, + -2885.694529575975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -936.1131326593493, + -2888.694529575975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -936.1131326593493, + -2891.694529575975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -936.1131326593493, + -2894.694529575975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -936.1131326593493, + -2897.694529575975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -936.1131326593493, + -2900.694529575975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -936.1131326593493, + -2903.694529575975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -936.1131326593493, + -2906.694529575975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -936.1131326593493, + -2909.694529575975, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -936.1131326593493, + -2909.694529575975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -937.6131326593493, + -2912.2926057873283, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -939.1131326593493, + -2914.8906819986814, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -940.6131326593493, + -2917.4887582100346, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + -2936.0, + -205.779 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-23-43_825726814/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-23-43_825726814/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..21ac55adf0d010e1cf70deb2080d471ea4a03a5a --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-23-43_825726814/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 208.43164601130954, + -1477.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 208.43164601130954, + -1474.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 208.43164601130954, + -1471.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 208.43164601130954, + -1468.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 208.43164601130954, + -1465.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 208.43164601130954, + -1462.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 208.43164601130954, + -1459.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 208.43164601130954, + -1456.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 208.43164601130954, + -1453.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 208.43164601130954, + -1450.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 208.43164601130954, + -1447.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 208.43164601130954, + -1444.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 208.43164601130954, + -1441.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 208.43164601130954, + -1438.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 208.43164601130954, + -1435.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 208.43164601130954, + -1432.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 208.43164601130954, + -1429.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 208.43164601130954, + -1426.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 208.43164601130954, + -1423.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 208.43164601130954, + -1420.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 208.43164601130954, + -1417.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 208.43164601130954, + -1414.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 208.43164601130954, + -1411.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 208.43164601130954, + -1408.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 208.43164601130954, + -1405.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 208.43164601130954, + -1402.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 208.43164601130954, + -1399.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 208.43164601130954, + -1396.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 208.43164601130954, + -1393.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 208.43164601130954, + -1390.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 208.43164601130954, + -1387.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 208.43164601130954, + -1384.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 208.43164601130954, + -1381.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 208.43164601130954, + -1378.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 208.43164601130954, + -1375.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 208.43164601130954, + -1372.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 208.43164601130954, + -1369.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 208.43164601130954, + -1366.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 208.43164601130954, + -1363.3351751471616, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 208.43164601130954, + -1363.3351751471616, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 208.43164601130954, + -1363.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 211.02972222266285, + -1361.8351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 213.62779843401617, + -1360.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 216.2258746453695, + -1358.8351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 218.8239508567228, + -1357.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 221.42202706807612, + -1355.8351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 224.02010327942943, + -1354.3351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 226.61817949078275, + -1352.8351751471616, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 226.61817949078275, + -1352.8351751471616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 228.11817949078275, + -1350.2370989358083, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 229.61817949078275, + -1347.639022724455, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 231.11817949078275, + -1345.0409465131015, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 232.61817949078275, + -1342.4428703017481, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 234.11817949078275, + -1339.8447940903948, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-30-33_10150109/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-30-33_10150109/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..923521aee83e690494fb04465a6d60a183863b3c --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-30-33_10150109/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -708.0833757379738, + -1770.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -708.0833757379738, + -1773.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -708.0833757379738, + -1776.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -708.0833757379738, + -1779.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -708.0833757379738, + -1782.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -708.0833757379738, + -1785.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -708.0833757379738, + -1788.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -708.0833757379738, + -1791.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -708.0833757379738, + -1794.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -708.0833757379738, + -1797.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -708.0833757379738, + -1800.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -708.0833757379738, + -1803.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -708.0833757379738, + -1806.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -708.0833757379738, + -1809.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -708.0833757379738, + -1812.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -708.0833757379738, + -1815.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -708.0833757379738, + -1818.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -708.0833757379738, + -1821.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -708.0833757379738, + -1824.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -708.0833757379738, + -1827.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -708.0833757379738, + -1830.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -708.0833757379738, + -1833.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -708.0833757379738, + -1836.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -708.0833757379738, + -1839.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -708.0833757379738, + -1842.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -708.0833757379738, + -1845.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -708.0833757379738, + -1848.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -708.0833757379738, + -1851.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -708.0833757379738, + -1854.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -708.0833757379738, + -1857.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -708.0833757379738, + -1860.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -708.0833757379738, + -1863.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -708.0833757379738, + -1866.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -708.0833757379738, + -1869.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -708.0833757379738, + -1872.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -708.0833757379738, + -1875.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -708.0833757379738, + -1878.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -708.0833757379738, + -1881.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -708.0833757379738, + -1884.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -708.0833757379738, + -1887.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -708.0833757379738, + -1890.9148715003766, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -708.0833757379738, + -1890.9148715003766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -709.5833757379738, + -1893.51294771173, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -711.0833757379738, + -1896.1110239230834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -712.5833757379738, + -1898.7091001344368, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -712.5833757379738, + -1898.7091001344368, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -712.5833757379738, + -1901.7091001344368, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -712.5833757379738, + -1904.7091001344368, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -712.5833757379738, + -1907.7091001344368, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -712.5833757379738, + -1910.7091001344368, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -712.5833757379738, + -1913.7091001344368, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -712.5833757379738, + -1916.7091001344368, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -712.5833757379738, + -1919.7091001344368, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -712.0, + -1940.0, + -205.963 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-34-26_752704313/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-34-26_752704313/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3a0ec019148ac85726825a24c3957ebb41c4b5db --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-34-26_752704313/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -659.3377426558552, + -1774.3912212795624, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -660.8377426558552, + -1776.9892974909158, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -662.3377426558552, + -1779.5873737022691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -663.8377426558552, + -1782.1854499136225, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -665.3377426558552, + -1784.7835261249759, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -666.8377426558552, + -1787.3816023363293, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -668.3377426558552, + -1789.9796785476826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -669.8377426558552, + -1792.577754759036, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -671.3377426558552, + -1795.1758309703894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -672.8377426558552, + -1797.7739071817427, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -674.3377426558552, + -1800.3719833930961, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -675.8377426558552, + -1802.9700596044495, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -677.3377426558552, + -1805.5681358158029, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -678.8377426558552, + -1808.1662120271562, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -680.3377426558552, + -1810.7642882385096, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -681.8377426558552, + -1813.362364449863, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -683.3377426558552, + -1815.9604406612164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -684.8377426558552, + -1818.5585168725697, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -686.3377426558552, + -1821.156593083923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -687.8377426558552, + -1823.7546692952765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -689.3377426558552, + -1826.3527455066298, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -690.8377426558552, + -1828.9508217179832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -692.3377426558552, + -1831.5488979293366, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -693.8377426558552, + -1834.14697414069, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -695.3377426558552, + -1836.7450503520433, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -695.3377426558552, + -1836.7450503520433, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -695.3377426558552, + -1839.7450503520433, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -695.3377426558552, + -1842.7450503520433, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -695.3377426558552, + -1845.7450503520433, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -695.3377426558552, + -1848.7450503520433, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -695.3377426558552, + -1851.7450503520433, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -695.3377426558552, + -1854.7450503520433, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -695.3377426558552, + -1857.7450503520433, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -695.3377426558552, + -1860.7450503520433, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -695.3377426558552, + -1863.7450503520433, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -695.3377426558552, + -1866.7450503520433, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -695.3377426558552, + -1869.7450503520433, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -695.3377426558552, + -1872.7450503520433, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -695.3377426558552, + -1875.7450503520433, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -695.3377426558552, + -1878.7450503520433, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -695.3377426558552, + -1881.7450503520433, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -695.3377426558552, + -1884.7450503520433, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -695.3377426558552, + -1887.7450503520433, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -695.3377426558552, + -1890.7450503520433, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -695.3377426558552, + -1893.7450503520433, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -695.3377426558552, + -1896.7450503520433, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -695.3377426558552, + -1899.7450503520433, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -695.3377426558552, + -1899.7450503520433, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -696.8377426558552, + -1902.3431265633967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -698.3377426558552, + -1904.94120277475, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -699.8377426558552, + -1907.5392789861035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -701.3377426558552, + -1910.1373551974568, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -702.8377426558552, + -1912.7354314088102, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -704.3377426558552, + -1915.3335076201636, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -705.8377426558552, + -1917.931583831517, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -707.3377426558552, + -1920.5296600428703, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -712.0, + -1940.0, + -205.963 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-40-4_1987323286/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-40-4_1987323286/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..95a61b549a7bfd9b6734ea67e2577fe6c02f8703 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-40-4_1987323286/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1034.3179447780865, + -2787.220586144849, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1032.8179447780865, + -2789.8186623562024, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1031.3179447780865, + -2792.4167385675555, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1029.8179447780865, + -2795.0148147789087, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1028.3179447780865, + -2797.612890990262, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1026.8179447780865, + -2800.210967201615, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1025.3179447780865, + -2802.809043412968, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1023.8179447780865, + -2805.4071196243212, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1022.3179447780865, + -2808.0051958356744, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1020.8179447780865, + -2810.6032720470275, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1019.3179447780865, + -2813.2013482583807, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1017.8179447780865, + -2815.799424469734, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1016.3179447780865, + -2818.397500681087, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1014.8179447780865, + -2820.99557689244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1013.3179447780865, + -2823.5936531037933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1011.8179447780865, + -2826.1917293151464, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1010.3179447780865, + -2828.7898055264995, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1008.8179447780865, + -2831.3878817378527, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1007.3179447780865, + -2833.985957949206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1005.8179447780865, + -2836.584034160559, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1004.3179447780865, + -2839.182110371912, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1002.8179447780865, + -2841.7801865832653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1001.3179447780865, + -2844.3782627946184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -999.8179447780865, + -2846.9763390059716, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -998.3179447780865, + -2849.5744152173247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -996.8179447780865, + -2852.172491428678, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -995.3179447780865, + -2854.770567640031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -993.8179447780865, + -2857.368643851384, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -992.3179447780865, + -2859.9667200627373, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -990.8179447780865, + -2862.5647962740904, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -989.3179447780865, + -2865.1628724854436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -987.8179447780865, + -2867.7609486967967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -986.3179447780865, + -2870.35902490815, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -984.8179447780865, + -2872.957101119503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -983.3179447780865, + -2875.555177330856, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -981.8179447780865, + -2878.1532535422093, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -981.8179447780865, + -2878.1532535422093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -981.8179447780865, + -2881.1532535422093, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -981.8179447780865, + -2881.1532535422093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -980.3179447780865, + -2883.7513297535625, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -978.8179447780865, + -2886.3494059649156, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -977.3179447780865, + -2888.9474821762687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -975.8179447780865, + -2891.545558387622, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -974.3179447780865, + -2894.143634598975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -972.8179447780865, + -2896.741710810328, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -971.3179447780865, + -2899.3397870216813, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -969.8179447780865, + -2901.9378632330345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -968.3179447780865, + -2904.5359394443876, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -966.8179447780865, + -2907.1340156557408, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -965.3179447780865, + -2909.732091867094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -963.8179447780865, + -2912.330168078447, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -963.8179447780865, + -2912.330168078447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -961.2198685667331, + -2913.830168078447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -958.6217923553797, + -2915.330168078447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -956.0237161440264, + -2916.830168078447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -953.425639932673, + -2918.330168078447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -950.8275637213196, + -2919.830168078447, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + -2936.0, + -205.779 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-41-32_1720185677/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-41-32_1720185677/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a29600b4309a5c2c9a88e2fa156879c0e2c61301 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-41-32_1720185677/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -981.7825256308042, + -2785.504658674811, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -980.2825256308042, + -2788.102734886164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -978.7825256308042, + -2790.700811097517, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -977.2825256308042, + -2793.2988873088702, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -975.7825256308042, + -2795.8969635202234, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -975.7825256308042, + -2795.8969635202234, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -973.1844494194509, + -2797.3969635202234, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -970.5863732080975, + -2798.8969635202234, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -967.9882969967441, + -2800.3969635202234, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -965.3902207853907, + -2801.8969635202234, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -962.7921445740374, + -2803.3969635202234, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -960.194068362684, + -2804.8969635202234, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -960.194068362684, + -2804.8969635202234, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -958.694068362684, + -2807.4950397315765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -957.194068362684, + -2810.0931159429297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -955.694068362684, + -2812.691192154283, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -954.194068362684, + -2815.289268365636, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -952.694068362684, + -2817.887344576989, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -951.194068362684, + -2820.4854207883423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -949.694068362684, + -2823.0834969996954, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -948.194068362684, + -2825.6815732110485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -946.694068362684, + -2828.2796494224017, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -945.194068362684, + -2830.877725633755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -943.694068362684, + -2833.475801845108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -942.194068362684, + -2836.073878056461, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -940.694068362684, + -2838.6719542678143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -939.194068362684, + -2841.2700304791674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -937.694068362684, + -2843.8681066905206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -936.194068362684, + -2846.4661829018737, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -936.194068362684, + -2846.4661829018737, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -936.194068362684, + -2849.4661829018737, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -936.194068362684, + -2852.4661829018737, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -936.194068362684, + -2855.4661829018737, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -936.194068362684, + -2858.4661829018737, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -936.194068362684, + -2861.4661829018737, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -936.194068362684, + -2864.4661829018737, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -936.194068362684, + -2867.4661829018737, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -936.194068362684, + -2870.4661829018737, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -936.194068362684, + -2873.4661829018737, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -936.194068362684, + -2876.4661829018737, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -936.194068362684, + -2879.4661829018737, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -936.194068362684, + -2882.4661829018737, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -936.194068362684, + -2885.4661829018737, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -936.194068362684, + -2888.4661829018737, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -936.194068362684, + -2891.4661829018737, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -936.194068362684, + -2894.4661829018737, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -936.194068362684, + -2897.4661829018737, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -936.194068362684, + -2900.4661829018737, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -936.194068362684, + -2903.4661829018737, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -936.194068362684, + -2906.4661829018737, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -936.194068362684, + -2909.4661829018737, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -936.194068362684, + -2909.4661829018737, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -937.694068362684, + -2912.064259113227, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -939.194068362684, + -2914.66233532458, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -940.694068362684, + -2917.260411535933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -942.194068362684, + -2919.8584877472863, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + -2936.0, + -205.779 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-0-48_813465002/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-0-48_813465002/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..793c85dc6df568d7c7a8aa6988da8233c18bf1ac --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-0-48_813465002/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -821.9069674944598, + -1764.0584652028, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -818.9069674944598, + -1764.0584652028, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -815.9069674944598, + -1764.0584652028, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -812.9069674944598, + -1764.0584652028, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -809.9069674944598, + -1764.0584652028, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -809.9069674944598, + -1764.0584652028, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -807.3088912831065, + -1765.5584652028, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -804.7108150717531, + -1767.0584652028, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -802.1127388603998, + -1768.5584652028, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -799.5146626490464, + -1770.0584652028, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -796.916586437693, + -1771.5584652028, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -794.3185102263396, + -1773.0584652028, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -791.7204340149863, + -1774.5584652028, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -789.1223578036329, + -1776.0584652028, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -786.5242815922795, + -1777.5584652028, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -783.9262053809261, + -1779.0584652028, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -781.3281291695728, + -1780.5584652028, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -778.7300529582194, + -1782.0584652028, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -776.131976746866, + -1783.5584652028, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -773.5339005355127, + -1785.0584652028, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -773.5339005355127, + -1785.0584652028, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -772.0339005355127, + -1787.6565414141535, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -770.5339005355127, + -1790.2546176255069, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -769.0339005355127, + -1792.8526938368602, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -767.5339005355127, + -1795.4507700482136, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -766.0339005355127, + -1798.048846259567, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -764.5339005355127, + -1800.6469224709203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -763.0339005355127, + -1803.2449986822737, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -761.5339005355127, + -1805.843074893627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -760.0339005355127, + -1808.4411511049805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -758.5339005355127, + -1811.0392273163338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -757.0339005355127, + -1813.6373035276872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -755.5339005355127, + -1816.2353797390406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -754.0339005355127, + -1818.833455950394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -752.5339005355127, + -1821.4315321617473, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -751.0339005355127, + -1824.0296083731007, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -749.5339005355127, + -1826.627684584454, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -748.0339005355127, + -1829.2257607958074, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -746.5339005355127, + -1831.8238370071608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -745.0339005355127, + -1834.4219132185142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -743.5339005355127, + -1837.0199894298676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -742.0339005355127, + -1839.618065641221, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -740.5339005355127, + -1842.2161418525743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -739.0339005355127, + -1844.8142180639277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -737.5339005355127, + -1847.412294275281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -736.0339005355127, + -1850.0103704866344, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -734.5339005355127, + -1852.6084466979878, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -733.0339005355127, + -1855.2065229093412, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -731.5339005355127, + -1857.8045991206945, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -730.0339005355127, + -1860.402675332048, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -728.5339005355127, + -1863.0007515434013, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -727.0339005355127, + -1865.5988277547547, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -725.5339005355127, + -1868.196903966108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -724.0339005355127, + -1870.7949801774614, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -722.5339005355127, + -1873.3930563888148, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-13-35_28264029/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-13-35_28264029/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d51a94a644792c2e7260ecd18ed3d72683d5fe74 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-13-35_28264029/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 235.06937441991988, + -1495.8957862024083, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 233.56937441991988, + -1493.297709991055, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 232.06937441991988, + -1490.6996337797016, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 230.56937441991988, + -1488.1015575683482, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 229.06937441991988, + -1485.5034813569948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 227.56937441991988, + -1482.9054051456415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 226.06937441991988, + -1480.307328934288, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 224.56937441991988, + -1477.7092527229347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 223.06937441991988, + -1475.1111765115813, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 221.56937441991988, + -1472.513100300228, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 221.56937441991988, + -1472.513100300228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 221.56937441991988, + -1469.513100300228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 221.56937441991988, + -1466.513100300228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 221.56937441991988, + -1463.513100300228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 221.56937441991988, + -1460.513100300228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 221.56937441991988, + -1457.513100300228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 221.56937441991988, + -1454.513100300228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 221.56937441991988, + -1451.513100300228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 221.56937441991988, + -1448.513100300228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 221.56937441991988, + -1445.513100300228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 221.56937441991988, + -1442.513100300228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 221.56937441991988, + -1439.513100300228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 221.56937441991988, + -1436.513100300228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 221.56937441991988, + -1433.513100300228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 221.56937441991988, + -1430.513100300228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 221.56937441991988, + -1427.513100300228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 221.56937441991988, + -1424.513100300228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 221.56937441991988, + -1421.513100300228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 221.56937441991988, + -1418.513100300228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 221.56937441991988, + -1415.513100300228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 221.56937441991988, + -1412.513100300228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 221.56937441991988, + -1409.513100300228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 221.56937441991988, + -1406.513100300228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 221.56937441991988, + -1403.513100300228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 221.56937441991988, + -1400.513100300228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 221.56937441991988, + -1397.513100300228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 221.56937441991988, + -1394.513100300228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 221.56937441991988, + -1391.513100300228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 221.56937441991988, + -1388.513100300228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 221.56937441991988, + -1385.513100300228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 221.56937441991988, + -1382.513100300228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 221.56937441991988, + -1379.513100300228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 221.56937441991988, + -1376.513100300228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 221.56937441991988, + -1373.513100300228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 221.56937441991988, + -1370.513100300228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 221.56937441991988, + -1367.513100300228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 221.56937441991988, + -1364.513100300228, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 221.56937441991988, + -1364.513100300228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 223.06937441991988, + -1361.9150240888746, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 224.56937441991988, + -1359.3169478775212, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 226.06937441991988, + -1356.7188716661678, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 227.56937441991988, + -1354.1207954548145, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 229.06937441991988, + -1351.522719243461, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 230.56937441991988, + -1348.9246430321077, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 232.06937441991988, + -1346.3265668207544, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 233.56937441991988, + -1343.728490609401, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 235.06937441991988, + -1341.1304143980476, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 236.56937441991988, + -1338.5323381866942, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-20-50_995234140/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-20-50_995234140/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a972ccb997c5cc7a50eb95900b12024fa86e2010 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-20-50_995234140/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 306.98078959756947, + -1482.9602446702913, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 305.48078959756947, + -1480.362168458938, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 303.98078959756947, + -1477.7640922475846, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 302.48078959756947, + -1475.1660160362312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 300.98078959756947, + -1472.5679398248778, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 299.48078959756947, + -1469.9698636135245, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 297.98078959756947, + -1467.371787402171, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 296.48078959756947, + -1464.7737111908177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 294.98078959756947, + -1462.1756349794643, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 293.48078959756947, + -1459.577558768111, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 291.98078959756947, + -1456.9794825567576, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 290.48078959756947, + -1454.3814063454042, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 288.98078959756947, + -1451.7833301340509, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 287.48078959756947, + -1449.1852539226975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 285.98078959756947, + -1446.587177711344, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 284.48078959756947, + -1443.9891014999907, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 282.98078959756947, + -1441.3910252886374, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 281.48078959756947, + -1438.792949077284, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 279.98078959756947, + -1436.1948728659306, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 278.48078959756947, + -1433.5967966545772, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 276.98078959756947, + -1430.9987204432239, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 275.48078959756947, + -1428.4006442318705, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 273.98078959756947, + -1425.8025680205171, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 272.48078959756947, + -1423.2044918091638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 270.98078959756947, + -1420.6064155978104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 269.48078959756947, + -1418.008339386457, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 267.98078959756947, + -1415.4102631751036, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 266.48078959756947, + -1412.8121869637503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 264.98078959756947, + -1410.214110752397, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 264.98078959756947, + -1410.214110752397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 264.98078959756947, + -1407.214110752397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 264.98078959756947, + -1404.214110752397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 264.98078959756947, + -1401.214110752397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 264.98078959756947, + -1398.214110752397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 264.98078959756947, + -1395.214110752397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 264.98078959756947, + -1392.214110752397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 264.98078959756947, + -1389.214110752397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 264.98078959756947, + -1386.214110752397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 264.98078959756947, + -1383.214110752397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 264.98078959756947, + -1380.214110752397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 264.98078959756947, + -1377.214110752397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 264.98078959756947, + -1374.214110752397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 264.98078959756947, + -1371.214110752397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 264.98078959756947, + -1368.214110752397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 264.98078959756947, + -1365.214110752397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 264.98078959756947, + -1362.214110752397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 264.98078959756947, + -1359.214110752397, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 264.98078959756947, + -1359.214110752397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 263.48078959756947, + -1356.6160345410435, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 261.98078959756947, + -1354.0179583296901, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 260.48078959756947, + -1351.4198821183368, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 258.98078959756947, + -1348.8218059069834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 257.48078959756947, + -1346.22372969563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 255.98078959756947, + -1343.6256534842767, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 255.98078959756947, + -1343.6256534842767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 253.38271338621615, + -1342.1256534842767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 250.78463717486284, + -1340.6256534842767, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-27-1_2086963638/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-27-1_2086963638/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..88657a34b19a4b0e7b710098e4f20d3efe8799b6 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-27-1_2086963638/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -101.03156522174419, + -1488.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -101.03156522174419, + -1485.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -101.03156522174419, + -1482.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -101.03156522174419, + -1479.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -101.03156522174419, + -1476.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -101.03156522174419, + -1473.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -101.03156522174419, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -101.03156522174419, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -101.03156522174419, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -101.03156522174419, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -104.03156522174419, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -107.03156522174419, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -110.03156522174419, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -113.03156522174419, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -116.03156522174419, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -119.03156522174419, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -122.03156522174419, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -125.03156522174419, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -128.0315652217442, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -131.0315652217442, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -134.0315652217442, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -137.0315652217442, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -140.0315652217442, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -143.0315652217442, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -146.0315652217442, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -149.0315652217442, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -152.0315652217442, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -155.0315652217442, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -158.0315652217442, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -161.0315652217442, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -164.0315652217442, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -167.0315652217442, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -170.0315652217442, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -173.0315652217442, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -176.0315652217442, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -179.0315652217442, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -182.0315652217442, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -185.0315652217442, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -188.0315652217442, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -191.0315652217442, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -194.0315652217442, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -197.0315652217442, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -200.0315652217442, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -203.0315652217442, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -206.0315652217442, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -209.0315652217442, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -212.0315652217442, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -215.0315652217442, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -218.0315652217442, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -218.0315652217442, + -1470.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -220.6296414330975, + -1468.5143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -223.22771764445082, + -1467.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -225.82579385580414, + -1465.5143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -228.42387006715745, + -1464.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -231.02194627851077, + -1462.5143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -233.62002248986408, + -1461.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -236.2180987012174, + -1459.5143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -238.81617491257072, + -1458.0143335123714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -241.41425112392403, + -1456.5143335123714, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-29-26_836802671/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-29-26_836802671/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..613dd2cc84852e9bd82caab93b36c174b0122749 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-29-26_836802671/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 406.9719767145609, + -1338.0558646087939, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 408.4719767145609, + -1335.4577883974405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 409.9719767145609, + -1332.859712186087, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 411.4719767145609, + -1330.2616359747337, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 412.9719767145609, + -1327.6635597633804, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 412.9719767145609, + -1327.6635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 412.9719767145609, + -1324.6635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 412.9719767145609, + -1321.6635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 412.9719767145609, + -1318.6635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 412.9719767145609, + -1315.6635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 412.9719767145609, + -1312.6635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 412.9719767145609, + -1309.6635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 412.9719767145609, + -1306.6635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 412.9719767145609, + -1303.6635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 412.9719767145609, + -1300.6635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 412.9719767145609, + -1297.6635597633804, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 412.9719767145609, + -1297.6635597633804, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 412.9719767145609, + -1297.6635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 415.57005292591424, + -1296.1635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 418.16812913726756, + -1294.6635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 420.7662053486209, + -1293.1635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 423.3642815599742, + -1291.6635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 425.9623577713275, + -1290.1635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 428.5604339826808, + -1288.6635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 431.15851019403414, + -1287.1635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 433.75658640538745, + -1285.6635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 436.35466261674077, + -1284.1635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 438.9527388280941, + -1282.6635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 441.5508150394474, + -1281.1635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 444.1488912508007, + -1279.6635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 446.74696746215403, + -1278.1635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 449.34504367350735, + -1276.6635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 451.94311988486066, + -1275.1635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 454.541196096214, + -1273.6635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 457.1392723075673, + -1272.1635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 459.7373485189206, + -1270.6635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 462.3354247302739, + -1269.1635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 464.93350094162724, + -1267.6635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 467.53157715298056, + -1266.1635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 470.1296533643339, + -1264.6635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 472.7277295756872, + -1263.1635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 475.3258057870405, + -1261.6635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 477.9238819983938, + -1260.1635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 480.52195820974714, + -1258.6635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 483.12003442110046, + -1257.1635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 485.7181106324538, + -1255.6635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 488.3161868438071, + -1254.1635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 490.9142630551604, + -1252.6635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 493.5123392665137, + -1251.1635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 496.11041547786704, + -1249.6635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 498.70849168922035, + -1248.1635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 501.30656790057367, + -1246.6635597633804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 503.904644111927, + -1245.1635597633804, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 528.0, + -1224.0, + -203.312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-3-13_1330301183/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-3-13_1330301183/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9603015de34be05c3fa729354a85e44d004b44c7 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-3-13_1330301183/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -33.01208752407601, + -1825.0001805931777, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -31.51208752407601, + -1822.4021043818243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -30.01208752407601, + -1819.804028170471, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -28.51208752407601, + -1817.2059519591176, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -27.01208752407601, + -1814.6078757477642, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -25.51208752407601, + -1812.0097995364108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -24.01208752407601, + -1809.4117233250574, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -22.51208752407601, + -1806.813647113704, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -21.01208752407601, + -1804.2155709023507, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -19.51208752407601, + -1801.6174946909973, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -19.51208752407601, + -1801.6174946909973, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -16.914011312722693, + -1800.1174946909973, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -14.315935101369377, + -1798.6174946909973, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -11.71785889001606, + -1797.1174946909973, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -9.119782678662745, + -1795.6174946909973, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -6.5217064673094285, + -1794.1174946909973, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -3.9236302559561125, + -1792.6174946909973, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1.3255540446027965, + -1791.1174946909973, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1.2725221667505195, + -1789.6174946909973, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3.8705983781038356, + -1788.1174946909973, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 6.468674589457152, + -1786.6174946909973, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 9.066750800810468, + -1785.1174946909973, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 11.664827012163784, + -1783.6174946909973, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 11.664827012163784, + -1783.6174946909973, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 13.164827012163784, + -1781.019418479644, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 14.664827012163784, + -1778.4213422682906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 16.164827012163784, + -1775.8232660569372, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 17.664827012163784, + -1773.2251898455838, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 19.164827012163784, + -1770.6271136342305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 20.664827012163784, + -1768.029037422877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 22.164827012163784, + -1765.4309612115237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 23.664827012163784, + -1762.8328850001703, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 25.164827012163784, + -1760.234808788817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 26.664827012163784, + -1757.6367325774636, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 28.164827012163784, + -1755.0386563661102, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 29.664827012163784, + -1752.4405801547568, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 31.164827012163784, + -1749.8425039434035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 32.664827012163784, + -1747.24442773205, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 34.164827012163784, + -1744.6463515206967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 35.664827012163784, + -1742.0482753093434, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 37.164827012163784, + -1739.45019909799, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 38.664827012163784, + -1736.8521228866366, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 40.164827012163784, + -1734.2540466752832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 41.664827012163784, + -1731.6559704639299, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 43.164827012163784, + -1729.0578942525765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 44.664827012163784, + -1726.4598180412231, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -1696.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-31-44_1855843024/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-31-44_1855843024/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c4c87454bc394e00c36aaa18d704692212af8c6b --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-31-44_1855843024/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 399.3890149986832, + -1349.6695444032803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 396.7909387873299, + -1351.1695444032803, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 396.7909387873299, + -1351.1695444032803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 395.2909387873299, + -1353.7676206146336, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 393.7909387873299, + -1356.365696825987, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 393.7909387873299, + -1356.365696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 391.19286257597656, + -1357.865696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 388.59478636462325, + -1359.365696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 385.99671015326993, + -1360.865696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 383.3986339419166, + -1362.365696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 380.8005577305633, + -1363.865696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 378.20248151921, + -1365.365696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 375.60440530785667, + -1366.865696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 373.00632909650335, + -1368.365696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 370.40825288515003, + -1369.865696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 367.8101766737967, + -1371.365696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 365.2121004624434, + -1372.865696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 362.6140242510901, + -1374.365696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 360.01594803973677, + -1375.865696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 357.41787182838345, + -1377.365696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 354.81979561703014, + -1378.865696825987, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 354.81979561703014, + -1378.865696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 351.81979561703014, + -1378.865696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 348.81979561703014, + -1378.865696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 345.81979561703014, + -1378.865696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 342.81979561703014, + -1378.865696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 339.81979561703014, + -1378.865696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 336.81979561703014, + -1378.865696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 333.81979561703014, + -1378.865696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 330.81979561703014, + -1378.865696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 327.81979561703014, + -1378.865696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 324.81979561703014, + -1378.865696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 321.81979561703014, + -1378.865696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 318.81979561703014, + -1378.865696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 315.81979561703014, + -1378.865696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 312.81979561703014, + -1378.865696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 309.81979561703014, + -1378.865696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 306.81979561703014, + -1378.865696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 303.81979561703014, + -1378.865696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 300.81979561703014, + -1378.865696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 297.81979561703014, + -1378.865696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 294.81979561703014, + -1378.865696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 291.81979561703014, + -1378.865696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 288.81979561703014, + -1378.865696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 285.81979561703014, + -1378.865696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 282.81979561703014, + -1378.865696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 279.81979561703014, + -1378.865696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 276.81979561703014, + -1378.865696825987, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 276.81979561703014, + -1378.865696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 274.2217194056768, + -1377.365696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 271.6236431943235, + -1375.865696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 269.0255669829702, + -1374.365696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 266.4274907716169, + -1372.865696825987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 263.82941456026356, + -1371.365696825987, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-34-42_1237979969/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-34-42_1237979969/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3a4f4bfe8b75f8a6f3ceb952a1e94984c4b2dfe5 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-34-42_1237979969/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 409.64109537957245, + -1360.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 407.04301916821913, + -1362.3648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 404.4449429568658, + -1363.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 401.8468667455125, + -1365.3648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 399.2487905341592, + -1366.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 396.65071432280587, + -1368.3648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 394.05263811145255, + -1369.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 391.45456190009924, + -1371.3648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 388.8564856887459, + -1372.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 386.2584094773926, + -1374.3648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 383.6603332660393, + -1375.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 381.062257054686, + -1377.3648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 378.46418084333266, + -1378.8648708572637, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 378.46418084333266, + -1378.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 375.46418084333266, + -1378.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 372.46418084333266, + -1378.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 369.46418084333266, + -1378.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 366.46418084333266, + -1378.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 363.46418084333266, + -1378.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 360.46418084333266, + -1378.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 357.46418084333266, + -1378.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 354.46418084333266, + -1378.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 351.46418084333266, + -1378.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 348.46418084333266, + -1378.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 345.46418084333266, + -1378.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 342.46418084333266, + -1378.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 339.46418084333266, + -1378.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 336.46418084333266, + -1378.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 333.46418084333266, + -1378.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 330.46418084333266, + -1378.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 327.46418084333266, + -1378.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 324.46418084333266, + -1378.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 321.46418084333266, + -1378.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 318.46418084333266, + -1378.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 315.46418084333266, + -1378.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 312.46418084333266, + -1378.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 309.46418084333266, + -1378.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 306.46418084333266, + -1378.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 303.46418084333266, + -1378.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 300.46418084333266, + -1378.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 297.46418084333266, + -1378.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 294.46418084333266, + -1378.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 291.46418084333266, + -1378.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 288.46418084333266, + -1378.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 285.46418084333266, + -1378.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 282.46418084333266, + -1378.8648708572637, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 282.46418084333266, + -1378.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 279.86610463197934, + -1377.3648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 277.268028420626, + -1375.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 274.6699522092727, + -1374.3648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 272.0718759979194, + -1372.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 269.4737997865661, + -1371.3648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 266.87572357521276, + -1369.8648708572637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 264.27764736385944, + -1368.3648708572637, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-5-7_518434573/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-5-7_518434573/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5dacf84f59e319195e5048d45294ccf16aadab57 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-5-7_518434573/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 572.5345363375384, + -2085.1523605381053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 569.936460126185, + -2086.6523605381053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 567.3383839148316, + -2088.1523605381053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 564.7403077034783, + -2089.6523605381053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 562.1422314921249, + -2091.1523605381053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 559.5441552807715, + -2092.6523605381053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 556.9460790694181, + -2094.1523605381053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 554.3480028580648, + -2095.6523605381053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 551.7499266467114, + -2097.1523605381053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 549.151850435358, + -2098.6523605381053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 546.5537742240047, + -2100.1523605381053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 543.9556980126513, + -2101.6523605381053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 541.3576218012979, + -2103.1523605381053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 538.7595455899445, + -2104.6523605381053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 536.1614693785912, + -2106.1523605381053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 533.5633931672378, + -2107.6523605381053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 530.9653169558844, + -2109.1523605381053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 528.367240744531, + -2110.6523605381053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 525.7691645331777, + -2112.1523605381053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 523.1710883218243, + -2113.6523605381053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 520.5730121104709, + -2115.1523605381053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 517.9749358991176, + -2116.6523605381053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 515.3768596877642, + -2118.1523605381053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 512.7787834764108, + -2119.6523605381053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 510.1807072650575, + -2121.1523605381053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 507.5826310537042, + -2122.6523605381053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 504.98455484235086, + -2124.1523605381053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 502.38647863099754, + -2125.6523605381053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 499.7884024196442, + -2127.1523605381053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 497.1903262082909, + -2128.6523605381053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 494.5922499969376, + -2130.1523605381053, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 494.5922499969376, + -2130.1523605381053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 493.0922499969376, + -2132.7504367494585, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 491.5922499969376, + -2135.3485129608116, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 490.0922499969376, + -2137.9465891721647, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 488.5922499969376, + -2140.544665383518, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 487.0922499969376, + -2143.142741594871, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 485.5922499969376, + -2145.740817806224, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 484.0922499969376, + -2148.3388940175773, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 482.5922499969376, + -2150.9369702289305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 481.0922499969376, + -2153.5350464402836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 479.5922499969376, + -2156.1331226516368, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 478.0922499969376, + -2158.73119886299, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 476.5922499969376, + -2161.329275074343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 475.0922499969376, + -2163.927351285696, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 473.5922499969376, + -2166.5254274970493, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 472.0922499969376, + -2169.1235037084025, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 470.5922499969376, + -2171.7215799197556, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 469.0922499969376, + -2174.319656131109, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 467.5922499969376, + -2176.917732342462, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 440.0, + -2200.0, + -205.967 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-51-38_1386510139/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-51-38_1386510139/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..83806d87f8fb7036fedd6c170596867beec6d86c --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-51-38_1386510139/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -780.9484163688304, + -2041.020823290318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -779.4484163688304, + -2038.4227470789647, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -777.9484163688304, + -2035.8246708676113, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -776.4484163688304, + -2033.226594656258, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -774.9484163688304, + -2030.6285184449046, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -773.4484163688304, + -2028.0304422335512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -771.9484163688304, + -2025.4323660221978, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -770.4484163688304, + -2022.8342898108444, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -768.9484163688304, + -2020.236213599491, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -767.4484163688304, + -2017.6381373881377, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -765.9484163688304, + -2015.0400611767843, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -764.4484163688304, + -2012.441984965431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -762.9484163688304, + -2009.8439087540776, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -761.4484163688304, + -2007.2458325427242, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -759.9484163688304, + -2004.6477563313708, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -759.9484163688304, + -2004.6477563313708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -757.3503401574771, + -2003.1477563313708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -754.7522639461238, + -2001.6477563313708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -752.1541877347704, + -2000.1477563313708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -749.556111523417, + -1998.6477563313708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -746.9580353120637, + -1997.1477563313708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -744.3599591007103, + -1995.6477563313708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -741.7618828893569, + -1994.1477563313708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -739.1638066780035, + -1992.6477563313708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -736.5657304666502, + -1991.1477563313708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -733.9676542552968, + -1989.6477563313708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -731.3695780439434, + -1988.1477563313708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -728.77150183259, + -1986.6477563313708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -726.1734256212367, + -1985.1477563313708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -723.5753494098833, + -1983.6477563313708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -720.9772731985299, + -1982.1477563313708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -718.3791969871766, + -1980.6477563313708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -715.7811207758232, + -1979.1477563313708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -713.1830445644698, + -1977.6477563313708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -710.5849683531164, + -1976.1477563313708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -707.9868921417631, + -1974.6477563313708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -705.3888159304097, + -1973.1477563313708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -702.7907397190563, + -1971.6477563313708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -700.192663507703, + -1970.1477563313708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -697.5945872963496, + -1968.6477563313708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -694.9965110849962, + -1967.1477563313708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -692.3984348736428, + -1965.6477563313708, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -692.3984348736428, + -1965.6477563313708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -690.8984348736428, + -1963.0496801200175, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -689.3984348736428, + -1960.451603908664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -687.8984348736428, + -1957.8535276973107, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -686.3984348736428, + -1955.2554514859573, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -684.8984348736428, + -1952.657375274604, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -683.3984348736428, + -1950.0592990632506, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -681.8984348736428, + -1947.4612228518972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -680.3984348736428, + -1944.8631466405438, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -678.8984348736428, + -1942.2650704291905, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-52-7_331016259/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-52-7_331016259/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..244a252eea10b8360ccc0e82b80542b87a45f6ba --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-52-7_331016259/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -62.73328114750289, + -1421.1685989645375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -64.2332811475029, + -1423.766675175891, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -65.7332811475029, + -1426.3647513872443, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -67.2332811475029, + -1428.9628275985976, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -68.7332811475029, + -1431.560903809951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -70.2332811475029, + -1434.1589800213044, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -71.7332811475029, + -1436.7570562326578, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -73.2332811475029, + -1439.3551324440111, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -74.7332811475029, + -1441.9532086553645, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -76.2332811475029, + -1444.5512848667179, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -77.7332811475029, + -1447.1493610780713, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -79.2332811475029, + -1449.7474372894246, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -80.7332811475029, + -1452.345513500778, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -82.2332811475029, + -1454.9435897121314, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -83.7332811475029, + -1457.5416659234847, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -85.2332811475029, + -1460.1397421348381, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -86.7332811475029, + -1462.7378183461915, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -88.2332811475029, + -1465.3358945575449, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -89.7332811475029, + -1467.9339707688982, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -91.2332811475029, + -1470.5320469802516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -92.7332811475029, + -1473.130123191605, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -94.2332811475029, + -1475.7281994029584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -95.7332811475029, + -1478.3262756143117, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -97.2332811475029, + -1480.924351825665, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -98.7332811475029, + -1483.5224280370185, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -100.2332811475029, + -1486.1205042483718, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -101.7332811475029, + -1488.7185804597252, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -101.7332811475029, + -1488.7185804597252, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -101.7332811475029, + -1491.7185804597252, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -101.7332811475029, + -1494.7185804597252, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -101.7332811475029, + -1497.7185804597252, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -101.7332811475029, + -1497.7185804597252, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -101.7332811475029, + -1497.7185804597252, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -104.33135735885621, + -1499.2185804597252, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -106.92943357020953, + -1500.7185804597252, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -109.52750978156284, + -1502.2185804597252, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -112.12558599291616, + -1503.7185804597252, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -114.72366220426947, + -1505.2185804597252, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -117.32173841562279, + -1506.7185804597252, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -119.9198146269761, + -1508.2185804597252, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -122.51789083832942, + -1509.7185804597252, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -125.11596704968274, + -1511.2185804597252, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -127.71404326103605, + -1512.7185804597252, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -130.31211947238938, + -1514.2185804597252, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -132.9101956837427, + -1515.7185804597252, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -135.50827189509602, + -1517.2185804597252, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -138.10634810644933, + -1518.7185804597252, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -140.70442431780265, + -1520.2185804597252, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -143.30250052915596, + -1521.7185804597252, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -145.90057674050928, + -1523.2185804597252, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -148.4986529518626, + -1524.7185804597252, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -151.0967291632159, + -1526.2185804597252, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -153.69480537456923, + -1527.7185804597252, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -156.29288158592254, + -1529.2185804597252, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -158.89095779727586, + -1530.7185804597252, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -161.48903400862918, + -1532.2185804597252, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -164.0871102199825, + -1533.7185804597252, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-55-0_1862558705/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-55-0_1862558705/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..abe6de8b0427b1d33234fc1b916055a59946ce90 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-55-0_1862558705/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 412.1837152686976, + -1327.9384851272341, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 412.1837152686976, + -1324.9384851272341, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 412.1837152686976, + -1321.9384851272341, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 412.1837152686976, + -1318.9384851272341, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 412.1837152686976, + -1315.9384851272341, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 412.1837152686976, + -1312.9384851272341, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 412.1837152686976, + -1309.9384851272341, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 412.1837152686976, + -1306.9384851272341, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 412.1837152686976, + -1303.9384851272341, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 412.1837152686976, + -1300.9384851272341, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 412.1837152686976, + -1300.9384851272341, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 413.6837152686976, + -1298.3404089158807, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 415.1837152686976, + -1295.7423327045274, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 416.6837152686976, + -1293.144256493174, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 418.1837152686976, + -1290.5461802818206, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 418.1837152686976, + -1290.5461802818206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 420.7817914800509, + -1289.0461802818206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 423.37986769140423, + -1287.5461802818206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 425.97794390275754, + -1286.0461802818206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 428.57602011411086, + -1284.5461802818206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 431.1740963254642, + -1283.0461802818206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 433.7721725368175, + -1281.5461802818206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 436.3702487481708, + -1280.0461802818206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 438.9683249595241, + -1278.5461802818206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 441.56640117087744, + -1277.0461802818206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 444.16447738223076, + -1275.5461802818206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 446.7625535935841, + -1274.0461802818206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 449.3606298049374, + -1272.5461802818206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 451.9587060162907, + -1271.0461802818206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 454.556782227644, + -1269.5461802818206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 457.15485843899734, + -1268.0461802818206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 459.75293465035065, + -1266.5461802818206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 462.35101086170397, + -1265.0461802818206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 464.9490870730573, + -1263.5461802818206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 467.5471632844106, + -1262.0461802818206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 470.1452394957639, + -1260.5461802818206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 472.74331570711723, + -1259.0461802818206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 475.34139191847055, + -1257.5461802818206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 477.93946812982387, + -1256.0461802818206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 480.5375443411772, + -1254.5461802818206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 483.1356205525305, + -1253.0461802818206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 485.7336967638838, + -1251.5461802818206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 488.33177297523713, + -1250.0461802818206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 490.92984918659045, + -1248.5461802818206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 493.52792539794376, + -1247.0461802818206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 496.1260016092971, + -1245.5461802818206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 498.7240778206504, + -1244.0461802818206, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 498.7240778206504, + -1244.0461802818206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 501.7240778206504, + -1244.0461802818206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 504.7240778206504, + -1244.0461802818206, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 528.0, + -1224.0, + -203.312 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-13-0_177332700/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-13-0_177332700/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9c60bf6d01c01b480c5ca9861d9682fc6a050ba9 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-13-0_177332700/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -649.886777565476, + -2043.2238322575608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -651.386777565476, + -2040.6257560462075, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -652.886777565476, + -2038.027679834854, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -654.386777565476, + -2035.4296036235007, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -655.886777565476, + -2032.8315274121474, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -657.386777565476, + -2030.233451200794, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -658.886777565476, + -2027.6353749894406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -660.386777565476, + -2025.0372987780872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -661.886777565476, + -2022.4392225667339, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -663.386777565476, + -2019.8411463553805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -664.886777565476, + -2017.2430701440271, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -666.386777565476, + -2014.6449939326737, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -667.886777565476, + -2012.0469177213204, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -669.386777565476, + -2009.448841509967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -670.886777565476, + -2006.8507652986136, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -672.386777565476, + -2004.2526890872603, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -673.886777565476, + -2001.6546128759069, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -675.386777565476, + -1999.0565366645535, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -676.886777565476, + -1996.4584604532001, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -678.386777565476, + -1993.8603842418468, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -679.886777565476, + -1991.2623080304934, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -681.386777565476, + -1988.66423181914, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -682.886777565476, + -1986.0661556077866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -684.386777565476, + -1983.4680793964333, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -685.886777565476, + -1980.87000318508, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -687.386777565476, + -1978.2719269737265, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -687.386777565476, + -1978.2719269737265, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -687.386777565476, + -1975.2719269737265, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -687.386777565476, + -1972.2719269737265, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -687.386777565476, + -1969.2719269737265, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -687.386777565476, + -1966.2719269737265, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -687.386777565476, + -1963.2719269737265, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -687.386777565476, + -1960.2719269737265, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -687.386777565476, + -1957.2719269737265, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -687.386777565476, + -1954.2719269737265, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -687.386777565476, + -1951.2719269737265, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -687.386777565476, + -1948.2719269737265, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -687.386777565476, + -1945.2719269737265, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -687.386777565476, + -1942.2719269737265, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -687.386777565476, + -1939.2719269737265, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -687.386777565476, + -1936.2719269737265, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -687.386777565476, + -1933.2719269737265, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -687.386777565476, + -1930.2719269737265, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -687.386777565476, + -1930.2719269737265, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -688.886777565476, + -1927.6738507623731, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -690.386777565476, + -1925.0757745510198, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -691.886777565476, + -1922.4776983396664, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-13-54_1651574882/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-13-54_1651574882/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a93081ebfeeb48ccc0a056f55913cb727590f19d --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-13-54_1651574882/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 191.70377831818496, + -1460.8506273791431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 193.20377831818496, + -1458.2525511677898, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 194.70377831818496, + -1455.6544749564364, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 196.20377831818496, + -1453.056398745083, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 197.70377831818496, + -1450.4583225337296, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 199.20377831818496, + -1447.8602463223763, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 200.70377831818496, + -1445.262170111023, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 202.20377831818496, + -1442.6640938996695, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 203.70377831818496, + -1440.0660176883162, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 205.20377831818496, + -1437.4679414769628, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 206.70377831818496, + -1434.8698652656094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 208.20377831818496, + -1432.271789054256, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 209.70377831818496, + -1429.6737128429027, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 211.20377831818496, + -1427.0756366315493, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 212.70377831818496, + -1424.477560420196, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 214.20377831818496, + -1421.8794842088425, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 215.70377831818496, + -1419.2814079974892, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 217.20377831818496, + -1416.6833317861358, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 218.70377831818496, + -1414.0852555747824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 220.20377831818496, + -1411.487179363429, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 221.70377831818496, + -1408.8891031520757, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 223.20377831818496, + -1406.2910269407223, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 223.20377831818496, + -1406.2910269407223, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 223.20377831818496, + -1403.2910269407223, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 223.20377831818496, + -1400.2910269407223, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 223.20377831818496, + -1397.2910269407223, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 223.20377831818496, + -1394.2910269407223, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 223.20377831818496, + -1391.2910269407223, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 223.20377831818496, + -1388.2910269407223, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 223.20377831818496, + -1385.2910269407223, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 223.20377831818496, + -1382.2910269407223, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 223.20377831818496, + -1379.2910269407223, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 223.20377831818496, + -1376.2910269407223, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 223.20377831818496, + -1373.2910269407223, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 223.20377831818496, + -1370.2910269407223, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 223.20377831818496, + -1367.2910269407223, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 223.20377831818496, + -1364.2910269407223, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 223.20377831818496, + -1361.2910269407223, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 223.20377831818496, + -1358.2910269407223, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 223.20377831818496, + -1355.2910269407223, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 223.20377831818496, + -1352.2910269407223, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 223.20377831818496, + -1352.2910269407223, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 224.70377831818496, + -1349.692950729369, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 226.20377831818496, + -1347.0948745180156, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 227.70377831818496, + -1344.4967983066622, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 229.20377831818496, + -1341.8987220953088, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 230.70377831818496, + -1339.3006458839554, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-16-20_1211721386/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-16-20_1211721386/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0a5c2c120ff9fee31c617a686ae0579d315339e9 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-16-20_1211721386/pose.jsonl @@ -0,0 +1,834 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -967.1313582739489, + -2758.7295072091274, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -967.1313582739489, + -2761.7295072091274, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -967.1313582739489, + -2764.7295072091274, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -967.1313582739489, + -2767.7295072091274, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -967.1313582739489, + -2770.7295072091274, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -967.1313582739489, + -2773.7295072091274, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -967.1313582739489, + -2776.7295072091274, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -967.1313582739489, + -2779.7295072091274, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -967.1313582739489, + -2782.7295072091274, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -967.1313582739489, + -2785.7295072091274, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -967.1313582739489, + -2788.7295072091274, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -967.1313582739489, + -2791.7295072091274, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -967.1313582739489, + -2794.7295072091274, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -967.1313582739489, + -2797.7295072091274, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -967.1313582739489, + -2800.7295072091274, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -967.1313582739489, + -2800.7295072091274, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -967.1313582739489, + -2800.7295072091274, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -964.5332820625956, + -2802.2295072091274, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -961.9352058512422, + -2803.7295072091274, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -961.9352058512422, + -2803.7295072091274, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -960.4352058512422, + -2806.3275834204806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -958.9352058512422, + -2808.9256596318337, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -957.4352058512422, + -2811.523735843187, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -955.9352058512422, + -2814.12181205454, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -954.4352058512422, + -2816.719888265893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -952.9352058512422, + -2819.3179644772463, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -951.4352058512422, + -2821.9160406885994, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -949.9352058512422, + -2824.5141168999526, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -948.4352058512422, + -2827.1121931113057, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -946.9352058512422, + -2829.710269322659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -945.4352058512422, + -2832.308345534012, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -943.9352058512422, + -2834.906421745365, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -942.4352058512422, + -2837.5044979567183, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -940.9352058512422, + -2840.1025741680714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -939.4352058512422, + -2842.7006503794246, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -937.9352058512422, + -2845.2987265907777, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -936.4352058512422, + -2847.896802802131, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -934.9352058512422, + -2850.494879013484, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -934.9352058512422, + -2850.494879013484, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -934.9352058512422, + -2853.494879013484, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -934.9352058512422, + -2856.494879013484, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -934.9352058512422, + -2859.494879013484, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -934.9352058512422, + -2862.494879013484, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -934.9352058512422, + -2865.494879013484, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -934.9352058512422, + -2868.494879013484, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -934.9352058512422, + -2871.494879013484, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -934.9352058512422, + -2874.494879013484, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -934.9352058512422, + -2877.494879013484, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -934.9352058512422, + -2880.494879013484, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -934.9352058512422, + -2883.494879013484, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -934.9352058512422, + -2886.494879013484, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -934.9352058512422, + -2889.494879013484, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -934.9352058512422, + -2892.494879013484, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -934.9352058512422, + -2895.494879013484, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -934.9352058512422, + -2898.494879013484, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -934.9352058512422, + -2901.494879013484, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -934.9352058512422, + -2901.494879013484, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -936.4352058512422, + -2904.092955224837, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -937.9352058512422, + -2906.6910314361903, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -939.4352058512422, + -2909.2891076475435, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -940.9352058512422, + -2911.8871838588966, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -942.4352058512422, + -2914.4852600702498, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -943.9352058512422, + -2917.083336281603, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + -2936.0, + -205.779 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-18-23_962764794/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-18-23_962764794/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bf190896231693504c9c19ca16ba3ce58866719b --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-18-23_962764794/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 373.7941356093912, + -1451.2134439257347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 371.1960593980379, + -1452.7134439257347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 368.5979831866846, + -1454.2134439257347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 365.99990697533127, + -1455.7134439257347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 363.40183076397796, + -1457.2134439257347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 360.80375455262464, + -1458.7134439257347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 358.2056783412713, + -1460.2134439257347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 355.607602129918, + -1461.7134439257347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 353.0095259185647, + -1463.2134439257347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 350.4114497072114, + -1464.7134439257347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 347.81337349585806, + -1466.2134439257347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 345.21529728450474, + -1467.7134439257347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 342.6172210731514, + -1469.2134439257347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 340.0191448617981, + -1470.7134439257347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 337.4210686504448, + -1472.2134439257347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 334.8229924390915, + -1473.7134439257347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 332.22491622773816, + -1475.2134439257347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 329.62684001638485, + -1476.7134439257347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 327.02876380503153, + -1478.2134439257347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 324.4306875936782, + -1479.7134439257347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 321.8326113823249, + -1481.2134439257347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 319.2345351709716, + -1482.7134439257347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 316.63645895961827, + -1484.2134439257347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 314.03838274826495, + -1485.7134439257347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 311.44030653691163, + -1487.2134439257347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 308.8422303255583, + -1488.7134439257347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 306.244154114205, + -1490.2134439257347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 303.6460779028517, + -1491.7134439257347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 301.04800169149837, + -1493.2134439257347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 298.44992548014505, + -1494.7134439257347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 295.85184926879174, + -1496.2134439257347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 293.2537730574384, + -1497.7134439257347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 290.6556968460851, + -1499.2134439257347, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 290.6556968460851, + -1499.2134439257347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 289.1556968460851, + -1501.811520137088, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 287.6556968460851, + -1504.4095963484415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 286.1556968460851, + -1507.0076725597949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 284.6556968460851, + -1509.6057487711482, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 283.1556968460851, + -1512.2038249825016, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 281.6556968460851, + -1514.801901193855, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 280.1556968460851, + -1517.3999774052083, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 278.6556968460851, + -1519.9980536165617, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 277.1556968460851, + -1522.596129827915, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 275.6556968460851, + -1525.1942060392685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 274.1556968460851, + -1527.7922822506218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 272.6556968460851, + -1530.3903584619752, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 271.1556968460851, + -1532.9884346733286, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 269.6556968460851, + -1535.586510884682, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 269.6556968460851, + -1535.586510884682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 267.0576206347318, + -1537.086510884682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 264.4595444233785, + -1538.586510884682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 261.86146821202516, + -1540.086510884682, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1560.0, + -206.55 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-7-34_1005418816/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-7-34_1005418816/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..55658e50924e5a8f0d7be4479d6e52289d12d35a --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-7-34_1005418816/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 302.7931864491935, + -1459.7346369027625, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 301.2931864491935, + -1457.1365606914092, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 299.7931864491935, + -1454.5384844800558, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 298.2931864491935, + -1451.9404082687024, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 296.7931864491935, + -1449.342332057349, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 295.2931864491935, + -1446.7442558459957, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 293.7931864491935, + -1444.1461796346423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 292.2931864491935, + -1441.548103423289, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 290.7931864491935, + -1438.9500272119355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 289.2931864491935, + -1436.3519510005822, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 287.7931864491935, + -1433.7538747892288, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 286.2931864491935, + -1431.1557985778754, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 284.7931864491935, + -1428.557722366522, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 283.2931864491935, + -1425.9596461551687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 281.7931864491935, + -1423.3615699438153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 280.2931864491935, + -1420.763493732462, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 278.7931864491935, + -1418.1654175211086, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 277.2931864491935, + -1415.5673413097552, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 275.7931864491935, + -1412.9692650984018, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 274.2931864491935, + -1410.3711888870484, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 272.7931864491935, + -1407.773112675695, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 271.2931864491935, + -1405.1750364643417, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 269.7931864491935, + -1402.5769602529883, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 268.2931864491935, + -1399.978884041635, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 266.7931864491935, + -1397.3808078302816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 265.2931864491935, + -1394.7827316189282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 263.7931864491935, + -1392.1846554075748, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 263.7931864491935, + -1392.1846554075748, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 263.7931864491935, + -1389.1846554075748, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 263.7931864491935, + -1386.1846554075748, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 263.7931864491935, + -1383.1846554075748, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 263.7931864491935, + -1380.1846554075748, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 263.7931864491935, + -1377.1846554075748, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 263.7931864491935, + -1374.1846554075748, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 263.7931864491935, + -1371.1846554075748, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 263.7931864491935, + -1368.1846554075748, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 263.7931864491935, + -1365.1846554075748, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 263.7931864491935, + -1362.1846554075748, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 263.7931864491935, + -1359.1846554075748, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 263.7931864491935, + -1356.1846554075748, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 263.7931864491935, + -1353.1846554075748, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 263.7931864491935, + -1350.1846554075748, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 263.7931864491935, + -1350.1846554075748, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 263.7931864491935, + -1350.1846554075748, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 261.1951102378402, + -1348.6846554075748, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 258.5970340264869, + -1347.1846554075748, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 255.99895781513356, + -1345.6846554075748, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 253.40088160378025, + -1344.1846554075748, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 250.80280539242693, + -1342.6846554075748, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 250.80280539242693, + -1342.6846554075748, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 250.80280539242693, + -1342.6846554075748, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 250.80280539242693, + -1339.6846554075748, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948968 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-13-45_2025251990/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-13-45_2025251990/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..04af8671022899ee3b4a48127e21e52ce939c580 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-13-45_2025251990/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 196.58249101012805, + -1462.8209724173819, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 198.08249101012805, + -1460.2228962060285, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 199.58249101012805, + -1457.6248199946751, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 201.08249101012805, + -1455.0267437833218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 202.58249101012805, + -1452.4286675719684, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 204.08249101012805, + -1449.830591360615, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 205.58249101012805, + -1447.2325151492616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 207.08249101012805, + -1444.6344389379083, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 208.58249101012805, + -1442.036362726555, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 210.08249101012805, + -1439.4382865152015, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 211.58249101012805, + -1436.8402103038482, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 213.08249101012805, + -1434.2421340924948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 214.58249101012805, + -1431.6440578811414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 216.08249101012805, + -1429.045981669788, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 217.58249101012805, + -1426.4479054584347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 219.08249101012805, + -1423.8498292470813, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 220.58249101012805, + -1421.251753035728, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 222.08249101012805, + -1418.6536768243745, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 222.08249101012805, + -1418.6536768243745, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 222.08249101012805, + -1415.6536768243745, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 222.08249101012805, + -1412.6536768243745, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 222.08249101012805, + -1409.6536768243745, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 222.08249101012805, + -1406.6536768243745, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 222.08249101012805, + -1403.6536768243745, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 222.08249101012805, + -1400.6536768243745, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 222.08249101012805, + -1397.6536768243745, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 222.08249101012805, + -1394.6536768243745, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 222.08249101012805, + -1391.6536768243745, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 222.08249101012805, + -1388.6536768243745, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 222.08249101012805, + -1385.6536768243745, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 222.08249101012805, + -1382.6536768243745, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 222.08249101012805, + -1379.6536768243745, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 222.08249101012805, + -1376.6536768243745, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 222.08249101012805, + -1373.6536768243745, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 222.08249101012805, + -1370.6536768243745, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 222.08249101012805, + -1367.6536768243745, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 222.08249101012805, + -1364.6536768243745, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 222.08249101012805, + -1361.6536768243745, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 222.08249101012805, + -1361.6536768243745, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 223.58249101012805, + -1359.0556006130212, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 225.08249101012805, + -1356.4575244016678, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 226.58249101012805, + -1353.8594481903144, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 228.08249101012805, + -1351.261371978961, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 229.58249101012805, + -1348.6632957676077, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 231.08249101012805, + -1346.0652195562543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 232.58249101012805, + -1343.467143344901, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 234.08249101012805, + -1340.8690671335476, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-17-29_1364180570/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-17-29_1364180570/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8838ad97a8a93258c0eacea6231ed4891e279e97 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-17-29_1364180570/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 182.83385021840525, + -1594.8458985065029, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 180.23577400705193, + -1596.3458985065029, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 177.6376977956986, + -1597.8458985065029, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 175.0396215843453, + -1599.3458985065029, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 172.44154537299198, + -1600.8458985065029, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 169.84346916163867, + -1602.3458985065029, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 167.24539295028535, + -1603.8458985065029, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 164.64731673893203, + -1605.3458985065029, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 162.04924052757872, + -1606.8458985065029, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 159.4511643162254, + -1608.3458985065029, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 156.85308810487209, + -1609.8458985065029, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 154.25501189351877, + -1611.3458985065029, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 151.65693568216545, + -1612.8458985065029, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 149.05885947081214, + -1614.3458985065029, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 146.46078325945882, + -1615.8458985065029, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 143.8627070481055, + -1617.3458985065029, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 141.2646308367522, + -1618.8458985065029, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 141.2646308367522, + -1618.8458985065029, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 139.7646308367522, + -1621.4439747178562, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 138.2646308367522, + -1624.0420509292096, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 136.7646308367522, + -1626.640127140563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 135.2646308367522, + -1629.2382033519164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 133.7646308367522, + -1631.8362795632697, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 132.2646308367522, + -1634.434355774623, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 130.7646308367522, + -1637.0324319859765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 129.2646308367522, + -1639.6305081973298, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 127.76463083675219, + -1642.2285844086832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 126.26463083675219, + -1644.8266606200366, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 124.76463083675219, + -1647.42473683139, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 123.26463083675219, + -1650.0228130427433, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 121.76463083675219, + -1652.6208892540967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 120.26463083675219, + -1655.21896546545, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 118.76463083675219, + -1657.8170416768035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 117.26463083675219, + -1660.4151178881568, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 115.76463083675219, + -1663.0131940995102, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 114.26463083675219, + -1665.6112703108636, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 112.76463083675219, + -1668.209346522217, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 112.76463083675219, + -1668.209346522217, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 112.76463083675219, + -1668.209346522217, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897833 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 109.76463083675219, + -1668.209346522217, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 106.76463083675219, + -1668.209346522217, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 103.76463083675219, + -1668.209346522217, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 100.76463083675219, + -1668.209346522217, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 97.76463083675219, + -1668.209346522217, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -1696.0, + -213.853 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-20-40_730199492/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-20-40_730199492/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f4a2aa1c365af902583e3a169d23a8f85176fe9b --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-20-40_730199492/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1043.2456608397692, + -2792.5821262749405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1041.7456608397692, + -2795.1802024862936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1040.2456608397692, + -2797.778278697647, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1038.7456608397692, + -2800.376354909, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1037.2456608397692, + -2802.974431120353, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1035.7456608397692, + -2805.572507331706, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1034.2456608397692, + -2808.1705835430594, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1032.7456608397692, + -2810.7686597544125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1031.2456608397692, + -2813.3667359657657, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1029.7456608397692, + -2815.964812177119, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1028.2456608397692, + -2818.562888388472, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1026.7456608397692, + -2821.160964599825, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1025.2456608397692, + -2823.7590408111782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1023.7456608397692, + -2826.3571170225314, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1022.2456608397692, + -2828.9551932338845, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1020.7456608397692, + -2831.5532694452377, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1019.2456608397692, + -2834.151345656591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1017.7456608397692, + -2836.749421867944, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1016.2456608397692, + -2839.347498079297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1014.7456608397692, + -2841.9455742906503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1013.2456608397692, + -2844.5436505020034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1011.7456608397692, + -2847.1417267133565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1010.2456608397692, + -2849.7398029247097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1008.7456608397692, + -2852.337879136063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1007.2456608397692, + -2854.935955347416, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1005.7456608397692, + -2857.534031558769, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1004.2456608397692, + -2860.1321077701223, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1002.7456608397692, + -2862.7301839814754, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1001.2456608397692, + -2865.3282601928286, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -999.7456608397692, + -2867.9263364041817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -998.2456608397692, + -2870.524412615535, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -996.7456608397692, + -2873.122488826888, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -995.2456608397692, + -2875.720565038241, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -993.7456608397692, + -2878.3186412495943, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -992.2456608397692, + -2880.9167174609474, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -990.7456608397692, + -2883.5147936723006, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -989.2456608397692, + -2886.1128698836537, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -987.7456608397692, + -2888.710946095007, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -986.2456608397692, + -2891.30902230636, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -984.7456608397692, + -2893.907098517713, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -983.2456608397692, + -2896.5051747290663, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -981.7456608397692, + -2899.1032509404195, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -980.2456608397692, + -2901.7013271517726, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -978.7456608397692, + -2904.2994033631257, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -977.2456608397692, + -2906.897479574479, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -975.7456608397692, + -2909.495555785832, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -975.7456608397692, + -2909.495555785832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -973.1475846284159, + -2910.995555785832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -970.5495084170625, + -2912.495555785832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -967.9514322057091, + -2913.995555785832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -965.3533559943558, + -2915.495555785832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -962.7552797830024, + -2916.995555785832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -960.157203571649, + -2918.495555785832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -957.5591273602956, + -2919.995555785832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -954.9610511489423, + -2921.495555785832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -952.3629749375889, + -2922.995555785832, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + -2936.0, + -205.779 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-23-5_1850612763/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-23-5_1850612763/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d60dcffa204c6e1aca4a0e2cb2e034fe015ec747 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-23-5_1850612763/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -821.9068450521036, + -1780.6239978930657, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -820.4068450521036, + -1783.222074104419, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -818.9068450521036, + -1785.8201503157725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -817.4068450521036, + -1788.4182265271259, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -815.9068450521036, + -1791.0163027384792, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -814.4068450521036, + -1793.6143789498326, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -812.9068450521036, + -1796.212455161186, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -811.4068450521036, + -1798.8105313725393, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -809.9068450521036, + -1801.4086075838927, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -808.4068450521036, + -1804.006683795246, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -806.9068450521036, + -1806.6047600065995, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -805.4068450521036, + -1809.2028362179528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -803.9068450521036, + -1811.8009124293062, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -802.4068450521036, + -1814.3989886406596, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -800.9068450521036, + -1816.997064852013, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -799.4068450521036, + -1819.5951410633663, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -797.9068450521036, + -1822.1932172747197, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -796.4068450521036, + -1824.791293486073, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -794.9068450521036, + -1827.3893696974264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -793.4068450521036, + -1829.9874459087798, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -791.9068450521036, + -1832.5855221201332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -790.4068450521036, + -1835.1835983314866, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -790.4068450521036, + -1835.1835983314866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -787.8087688407502, + -1836.6835983314866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -785.2106926293968, + -1838.1835983314866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -782.6126164180434, + -1839.6835983314866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -780.0145402066901, + -1841.1835983314866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -777.4164639953367, + -1842.6835983314866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -774.8183877839833, + -1844.1835983314866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -772.22031157263, + -1845.6835983314866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -769.6222353612766, + -1847.1835983314866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -767.0241591499232, + -1848.6835983314866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -764.4260829385698, + -1850.1835983314866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -761.8280067272165, + -1851.6835983314866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -759.2299305158631, + -1853.1835983314866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -756.6318543045097, + -1854.6835983314866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -754.0337780931563, + -1856.1835983314866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -751.435701881803, + -1857.6835983314866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -748.8376256704496, + -1859.1835983314866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -746.2395494590962, + -1860.6835983314866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -743.6414732477429, + -1862.1835983314866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -741.0433970363895, + -1863.6835983314866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -738.4453208250361, + -1865.1835983314866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -735.8472446136827, + -1866.6835983314866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -733.2491684023294, + -1868.1835983314866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -730.651092190976, + -1869.6835983314866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -728.0530159796226, + -1871.1835983314866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -725.4549397682692, + -1872.6835983314866, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-3-11_1701475883/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-3-11_1701475883/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f9381ddf6739ab922aeab5b024a84039678c1491 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-3-11_1701475883/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 18.158388137538616, + -1536.1706709217328, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 19.658388137538616, + -1538.7687471330862, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 21.158388137538616, + -1541.3668233444396, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 22.658388137538616, + -1543.964899555793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 24.158388137538616, + -1546.5629757671463, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 25.658388137538616, + -1549.1610519784997, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 27.158388137538616, + -1551.759128189853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 28.658388137538616, + -1554.3572044012064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 30.158388137538616, + -1556.9552806125598, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 31.658388137538616, + -1559.5533568239132, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 33.158388137538616, + -1562.1514330352666, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 34.658388137538616, + -1564.74950924662, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 36.158388137538616, + -1567.3475854579733, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 37.658388137538616, + -1569.9456616693267, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 39.158388137538616, + -1572.54373788068, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 40.658388137538616, + -1575.1418140920334, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 42.158388137538616, + -1577.7398903033868, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 42.158388137538616, + -1577.7398903033868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 42.158388137538616, + -1580.7398903033868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 42.158388137538616, + -1583.7398903033868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 42.158388137538616, + -1586.7398903033868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 42.158388137538616, + -1589.7398903033868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 42.158388137538616, + -1592.7398903033868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 42.158388137538616, + -1595.7398903033868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 42.158388137538616, + -1598.7398903033868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 42.158388137538616, + -1601.7398903033868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 42.158388137538616, + -1604.7398903033868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 42.158388137538616, + -1607.7398903033868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 42.158388137538616, + -1610.7398903033868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 42.158388137538616, + -1613.7398903033868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 42.158388137538616, + -1616.7398903033868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 42.158388137538616, + -1619.7398903033868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 42.158388137538616, + -1622.7398903033868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 42.158388137538616, + -1625.7398903033868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 42.158388137538616, + -1628.7398903033868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 42.158388137538616, + -1631.7398903033868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 42.158388137538616, + -1634.7398903033868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 42.158388137538616, + -1637.7398903033868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 42.158388137538616, + -1640.7398903033868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 42.158388137538616, + -1643.7398903033868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 42.158388137538616, + -1646.7398903033868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 42.158388137538616, + -1649.7398903033868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 42.158388137538616, + -1652.7398903033868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 42.158388137538616, + -1655.7398903033868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 42.158388137538616, + -1658.7398903033868, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 42.158388137538616, + -1658.7398903033868, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 42.158388137538616, + -1658.7398903033868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 44.75646434889193, + -1660.2398903033868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 47.35454056024525, + -1661.7398903033868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 49.952616771598564, + -1663.2398903033868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 52.55069298295188, + -1664.7398903033868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 55.148769194305196, + -1666.2398903033868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 57.74684540565851, + -1667.7398903033868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 60.34492161701183, + -1669.2398903033868, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -1696.0, + -213.853 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-33-38_107939561/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-33-38_107939561/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9de39772708bb113767a2a8730e6703d7ee91836 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-33-38_107939561/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -295.4999115207571, + -1430.161238875143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -293.9999115207571, + -1432.7593150864964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -292.4999115207571, + -1435.3573912978497, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -290.9999115207571, + -1437.9554675092031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -289.4999115207571, + -1440.5535437205565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -287.9999115207571, + -1443.1516199319099, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -286.4999115207571, + -1445.7496961432632, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -284.9999115207571, + -1448.3477723546166, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -283.4999115207571, + -1450.94584856597, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -281.9999115207571, + -1453.5439247773234, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -280.4999115207571, + -1456.1420009886767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -278.9999115207571, + -1458.74007720003, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -277.4999115207571, + -1461.3381534113835, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -275.9999115207571, + -1463.9362296227368, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -274.4999115207571, + -1466.5343058340902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -272.9999115207571, + -1469.1323820454436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -271.4999115207571, + -1471.730458256797, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -269.9999115207571, + -1474.3285344681503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -268.4999115207571, + -1476.9266106795037, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -266.9999115207571, + -1479.524686890857, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -265.4999115207571, + -1482.1227631022105, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -263.9999115207571, + -1484.7208393135638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -262.4999115207571, + -1487.3189155249172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -260.9999115207571, + -1489.9169917362706, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -259.4999115207571, + -1492.515067947624, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -257.9999115207571, + -1495.1131441589773, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -256.4999115207571, + -1497.7112203703307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -254.9999115207571, + -1500.309296581684, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -253.4999115207571, + -1502.9073727930374, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -251.9999115207571, + -1505.5054490043908, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -250.4999115207571, + -1508.1035252157442, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -250.4999115207571, + -1508.1035252157442, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -247.9018353094038, + -1509.6035252157442, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -245.30375909805048, + -1511.1035252157442, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -242.70568288669716, + -1512.6035252157442, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -240.10760667534385, + -1514.1035252157442, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -237.50953046399053, + -1515.6035252157442, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -234.9114542526372, + -1517.1035252157442, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -232.3133780412839, + -1518.6035252157442, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -229.71530182993058, + -1520.1035252157442, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -227.11722561857727, + -1521.6035252157442, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -224.51914940722395, + -1523.1035252157442, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -221.92107319587063, + -1524.6035252157442, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -219.32299698451732, + -1526.1035252157442, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -216.724920773164, + -1527.6035252157442, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -214.12684456181069, + -1529.1035252157442, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -211.52876835045737, + -1530.6035252157442, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -208.93069213910405, + -1532.1035252157442, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -206.33261592775074, + -1533.6035252157442, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -203.73453971639742, + -1535.1035252157442, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -201.1364635050441, + -1536.6035252157442, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -198.5383872936908, + -1538.1035252157442, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -195.94031108233747, + -1539.6035252157442, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -193.34223487098416, + -1541.1035252157442, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-35-26_1199420528/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-35-26_1199420528/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5c298aac422f4e80744a9bc0c9e43f9fac64b58d --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-35-26_1199420528/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -111.11781833441961, + -1503.8034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -113.71589454577293, + -1502.3034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -116.31397075712624, + -1500.8034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -118.91204696847956, + -1499.3034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -121.51012317983287, + -1497.8034992314867, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -121.51012317983287, + -1497.8034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -124.51012317983287, + -1497.8034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -127.51012317983287, + -1497.8034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -130.51012317983287, + -1497.8034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -133.51012317983287, + -1497.8034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -136.51012317983287, + -1497.8034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -139.51012317983287, + -1497.8034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -142.51012317983287, + -1497.8034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -145.51012317983287, + -1497.8034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -148.51012317983287, + -1497.8034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -151.51012317983287, + -1497.8034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -154.51012317983287, + -1497.8034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -157.51012317983287, + -1497.8034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -160.51012317983287, + -1497.8034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -163.51012317983287, + -1497.8034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -166.51012317983287, + -1497.8034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -169.51012317983287, + -1497.8034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -172.51012317983287, + -1497.8034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -175.51012317983287, + -1497.8034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -178.51012317983287, + -1497.8034992314867, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -178.51012317983287, + -1497.8034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -181.1081993911862, + -1496.3034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -183.7062756025395, + -1494.8034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -186.30435181389282, + -1493.3034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -188.90242802524614, + -1491.8034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -191.50050423659945, + -1490.3034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -194.09858044795277, + -1488.8034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -196.6966566593061, + -1487.3034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -199.2947328706594, + -1485.8034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -201.89280908201272, + -1484.3034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -204.49088529336603, + -1482.8034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -207.08896150471935, + -1481.3034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -209.68703771607267, + -1479.8034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -212.28511392742598, + -1478.3034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -214.8831901387793, + -1476.8034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -217.48126635013261, + -1475.3034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -220.07934256148593, + -1473.8034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -222.67741877283925, + -1472.3034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -225.27549498419256, + -1470.8034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -227.87357119554588, + -1469.3034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -230.4716474068992, + -1467.8034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -233.0697236182525, + -1466.3034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -235.66779982960583, + -1464.8034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -238.26587604095914, + -1463.3034992314867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -240.86395225231246, + -1461.8034992314867, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-43-54_110993018/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-43-54_110993018/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f4d05f4c8a5665263a860053a56b205c4fcd304a --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-43-54_110993018/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -832.1773136084149, + -1948.3806250859325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -829.1773136084149, + -1948.3806250859325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -826.1773136084149, + -1948.3806250859325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -823.1773136084149, + -1948.3806250859325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -820.1773136084149, + -1948.3806250859325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -817.1773136084149, + -1948.3806250859325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -814.1773136084149, + -1948.3806250859325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -811.1773136084149, + -1948.3806250859325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -808.1773136084149, + -1948.3806250859325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -805.1773136084149, + -1948.3806250859325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -802.1773136084149, + -1948.3806250859325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -799.1773136084149, + -1948.3806250859325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -796.1773136084149, + -1948.3806250859325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -793.1773136084149, + -1948.3806250859325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -790.1773136084149, + -1948.3806250859325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -787.1773136084149, + -1948.3806250859325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -784.1773136084149, + -1948.3806250859325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -781.1773136084149, + -1948.3806250859325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -778.1773136084149, + -1948.3806250859325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -775.1773136084149, + -1948.3806250859325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -772.1773136084149, + -1948.3806250859325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -769.1773136084149, + -1948.3806250859325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -766.1773136084149, + -1948.3806250859325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -763.1773136084149, + -1948.3806250859325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -760.1773136084149, + -1948.3806250859325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -757.1773136084149, + -1948.3806250859325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -754.1773136084149, + -1948.3806250859325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -751.1773136084149, + -1948.3806250859325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -748.1773136084149, + -1948.3806250859325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -745.1773136084149, + -1948.3806250859325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -742.1773136084149, + -1948.3806250859325, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -742.1773136084149, + -1948.3806250859325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -739.5792373970617, + -1946.8806250859325, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -739.5792373970617, + -1946.8806250859325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -738.0792373970617, + -1944.282548874579, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -736.5792373970617, + -1941.6844726632257, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -735.0792373970617, + -1939.0863964518724, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -733.5792373970617, + -1936.488320240519, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -732.0792373970617, + -1933.8902440291656, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -730.5792373970617, + -1931.2921678178122, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -729.0792373970617, + -1928.6940916064589, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -727.5792373970617, + -1926.0960153951055, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -726.0792373970617, + -1923.4979391837521, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -724.5792373970617, + -1920.8998629723988, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -724.5792373970617, + -1920.8998629723988, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -724.5792373970617, + -1920.8998629723988, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -721.5792373970617, + -1920.8998629723988, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -718.5792373970617, + -1920.8998629723988, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -715.5792373970617, + -1920.8998629723988, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -712.5792373970617, + -1920.8998629723988, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -709.5792373970617, + -1920.8998629723988, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -706.5792373970617, + -1920.8998629723988, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -703.5792373970617, + -1920.8998629723988, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -700.5792373970617, + -1920.8998629723988, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -697.5792373970617, + -1920.8998629723988, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -694.5792373970617, + -1920.8998629723988, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -691.5792373970617, + -1920.8998629723988, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -688.5792373970617, + -1920.8998629723988, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -685.5792373970617, + -1920.8998629723988, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -682.5792373970617, + -1920.8998629723988, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-59-22_1453048498/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-59-22_1453048498/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bf328a5a65b9197059a1939ec2e879d31fa5cda9 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-59-22_1453048498/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -64.89274859077202, + -1453.0926300849462, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -66.39274859077202, + -1455.6907062962996, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -67.89274859077202, + -1458.288782507653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -69.39274859077202, + -1460.8868587190063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -70.89274859077202, + -1463.4849349303597, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -72.39274859077202, + -1466.083011141713, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -73.89274859077202, + -1468.6810873530665, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -75.39274859077202, + -1471.2791635644198, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -76.89274859077202, + -1473.8772397757732, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -78.39274859077202, + -1476.4753159871266, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -79.89274859077202, + -1479.07339219848, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -81.39274859077202, + -1481.6714684098333, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -82.89274859077202, + -1484.2695446211867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -84.39274859077202, + -1486.86762083254, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -85.89274859077202, + -1489.4656970438934, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -87.39274859077202, + -1492.0637732552468, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -88.89274859077202, + -1494.6618494666002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -90.39274859077202, + -1497.2599256779536, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -91.89274859077202, + -1499.858001889307, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -91.89274859077202, + -1499.858001889307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -94.49082480212533, + -1501.358001889307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -97.08890101347865, + -1502.858001889307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -99.68697722483196, + -1504.358001889307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -102.28505343618528, + -1505.858001889307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -104.8831296475386, + -1507.358001889307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -107.48120585889191, + -1508.858001889307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -110.07928207024523, + -1510.358001889307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -112.67735828159854, + -1511.858001889307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -115.27543449295186, + -1513.358001889307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -117.87351070430518, + -1514.858001889307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -120.47158691565849, + -1516.358001889307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -123.06966312701181, + -1517.858001889307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -125.66773933836512, + -1519.358001889307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -128.26581554971844, + -1520.858001889307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -130.86389176107176, + -1522.358001889307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -133.46196797242507, + -1523.858001889307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -136.0600441837784, + -1525.358001889307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -138.6581203951317, + -1526.858001889307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -141.25619660648502, + -1528.358001889307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -143.85427281783834, + -1529.858001889307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -146.45234902919165, + -1531.358001889307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -149.05042524054497, + -1532.858001889307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -151.64850145189828, + -1534.358001889307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -154.2465776632516, + -1535.858001889307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -156.84465387460492, + -1537.358001889307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -159.44273008595823, + -1538.858001889307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -162.04080629731155, + -1540.358001889307, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-6-1_888482339/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-6-1_888482339/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bdaa840f702f5fc2b1899327ec439e554c5dc627 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-6-1_888482339/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -89.72958035230054, + -1407.5174735356102, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -91.22958035230054, + -1410.1155497469636, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -92.72958035230054, + -1412.713625958317, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -94.22958035230054, + -1415.3117021696703, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -95.72958035230054, + -1417.9097783810237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -97.22958035230054, + -1420.507854592377, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -98.72958035230054, + -1423.1059308037304, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -100.22958035230054, + -1425.7040070150838, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -101.72958035230054, + -1428.3020832264372, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -103.22958035230054, + -1430.9001594377905, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -104.72958035230054, + -1433.498235649144, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -106.22958035230054, + -1436.0963118604973, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -107.72958035230054, + -1438.6943880718507, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -109.22958035230054, + -1441.292464283204, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -110.72958035230054, + -1443.8905404945574, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -112.22958035230054, + -1446.4886167059108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -113.72958035230054, + -1449.0866929172641, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -115.22958035230054, + -1451.6847691286175, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -116.72958035230054, + -1454.282845339971, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -118.22958035230054, + -1456.8809215513243, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -118.22958035230054, + -1456.8809215513243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -120.82765656365386, + -1458.3809215513243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -123.42573277500718, + -1459.8809215513243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -126.02380898636049, + -1461.3809215513243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -128.62188519771382, + -1462.8809215513243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -131.21996140906714, + -1464.3809215513243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -133.81803762042045, + -1465.8809215513243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -136.41611383177377, + -1467.3809215513243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -139.0141900431271, + -1468.8809215513243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -141.6122662544804, + -1470.3809215513243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -144.21034246583372, + -1471.8809215513243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -146.80841867718703, + -1473.3809215513243, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -146.80841867718703, + -1473.3809215513243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -148.30841867718703, + -1475.9789977626776, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -149.80841867718703, + -1478.577073974031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -151.30841867718703, + -1481.1751501853844, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -152.80841867718703, + -1483.7732263967378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -154.30841867718703, + -1486.3713026080911, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -155.80841867718703, + -1488.9693788194445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -157.30841867718703, + -1491.5674550307979, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -158.80841867718703, + -1494.1655312421512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -160.30841867718703, + -1496.7636074535046, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -161.80841867718703, + -1499.361683664858, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -163.30841867718703, + -1501.9597598762114, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -164.80841867718703, + -1504.5578360875647, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -164.80841867718703, + -1504.5578360875647, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -164.80841867718703, + -1507.5578360875647, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -164.80841867718703, + -1510.5578360875647, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -164.80841867718703, + -1513.5578360875647, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -164.80841867718703, + -1516.5578360875647, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -164.80841867718703, + -1519.5578360875647, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -164.80841867718703, + -1522.5578360875647, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -164.80841867718703, + -1525.5578360875647, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -164.80841867718703, + -1528.5578360875647, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-6-30_1209379174/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-6-30_1209379174/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..af734c535397e4b87fbe847414ddfa708f020e41 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-6-30_1209379174/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -783.2719594008801, + -2021.2138469906558, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -780.6738831895268, + -2019.7138469906558, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -780.6738831895268, + -2019.7138469906558, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -779.1738831895268, + -2017.1157707793025, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -777.6738831895268, + -2014.517694567949, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -777.6738831895268, + -2014.517694567949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -775.0758069781734, + -2013.017694567949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -772.4777307668201, + -2011.517694567949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -769.8796545554667, + -2010.017694567949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -767.2815783441133, + -2008.517694567949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -764.6835021327599, + -2007.017694567949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -762.0854259214066, + -2005.517694567949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -759.4873497100532, + -2004.017694567949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -756.8892734986998, + -2002.517694567949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -754.2911972873464, + -2001.017694567949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -751.6931210759931, + -1999.517694567949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -749.0950448646397, + -1998.017694567949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -746.4969686532863, + -1996.517694567949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -743.898892441933, + -1995.017694567949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -741.3008162305796, + -1993.517694567949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -738.7027400192262, + -1992.017694567949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -736.1046638078728, + -1990.517694567949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -733.5065875965195, + -1989.017694567949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -730.9085113851661, + -1987.517694567949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -728.3104351738127, + -1986.017694567949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -725.7123589624593, + -1984.517694567949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -723.114282751106, + -1983.017694567949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -720.5162065397526, + -1981.517694567949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -717.9181303283992, + -1980.017694567949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -715.3200541170459, + -1978.517694567949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -712.7219779056925, + -1977.017694567949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -710.1239016943391, + -1975.517694567949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -707.5258254829857, + -1974.017694567949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -704.9277492716324, + -1972.517694567949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -702.329673060279, + -1971.017694567949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -699.7315968489256, + -1969.517694567949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -697.1335206375722, + -1968.017694567949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -694.5354444262189, + -1966.517694567949, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -694.5354444262189, + -1966.517694567949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -693.0354444262189, + -1963.9196183565957, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -691.5354444262189, + -1961.3215421452423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -690.0354444262189, + -1958.723465933889, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -688.5354444262189, + -1956.1253897225356, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -687.0354444262189, + -1953.5273135111822, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -685.5354444262189, + -1950.9292372998289, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -684.0354444262189, + -1948.3311610884755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -682.5354444262189, + -1945.733084877122, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -681.0354444262189, + -1943.1350086657687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -679.5354444262189, + -1940.5369324544154, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -678.0354444262189, + -1937.938856243062, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-0-47_33713861/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-0-47_33713861/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e803531483c9e191c16913bed9301fe511773803 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-0-47_33713861/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 269.3444684923358, + -1491.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 269.3444684923358, + -1488.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 269.3444684923358, + -1485.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 269.3444684923358, + -1482.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 269.3444684923358, + -1479.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 269.3444684923358, + -1476.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 269.3444684923358, + -1473.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 269.3444684923358, + -1470.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 269.3444684923358, + -1467.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 269.3444684923358, + -1464.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 269.3444684923358, + -1461.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 269.3444684923358, + -1458.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 269.3444684923358, + -1455.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 269.3444684923358, + -1452.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 269.3444684923358, + -1449.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 269.3444684923358, + -1446.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 269.3444684923358, + -1443.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 269.3444684923358, + -1440.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 269.3444684923358, + -1437.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 269.3444684923358, + -1434.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 269.3444684923358, + -1431.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 269.3444684923358, + -1428.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 269.3444684923358, + -1425.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 269.3444684923358, + -1422.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 269.3444684923358, + -1419.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 269.3444684923358, + -1416.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 269.3444684923358, + -1413.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 269.3444684923358, + -1410.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 269.3444684923358, + -1407.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 269.3444684923358, + -1404.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 269.3444684923358, + -1401.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 269.3444684923358, + -1398.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 269.3444684923358, + -1395.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 269.3444684923358, + -1392.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 269.3444684923358, + -1389.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 269.3444684923358, + -1386.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 269.3444684923358, + -1383.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 269.3444684923358, + -1380.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 269.3444684923358, + -1377.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 269.3444684923358, + -1374.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 269.3444684923358, + -1371.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 269.3444684923358, + -1368.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 269.3444684923358, + -1365.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 269.3444684923358, + -1362.9560603371765, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 269.3444684923358, + -1362.9560603371765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 267.8444684923358, + -1360.3579841258231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 266.3444684923358, + -1357.7599079144697, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 266.3444684923358, + -1357.7599079144697, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 263.7463922809825, + -1356.2599079144697, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 261.1483160696292, + -1354.7599079144697, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 258.55023985827586, + -1353.2599079144697, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 255.95216364692254, + -1351.7599079144697, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 253.35408743556923, + -1350.2599079144697, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 250.7560112242159, + -1348.7599079144697, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 248.1579350128626, + -1347.2599079144697, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 245.55985880150928, + -1345.7599079144697, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 245.55985880150928, + -1345.7599079144697, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 245.55985880150928, + -1345.7599079144697, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 245.55985880150928, + -1342.7599079144697, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 245.55985880150928, + -1339.7599079144697, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-10-56_384295879/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-10-56_384295879/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1a9d698ab550bc34711aec59bf1640b4efcd5889 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-10-56_384295879/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -77.27197462272031, + -1436.8995893414335, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -78.77197462272031, + -1439.4976655527869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -80.27197462272031, + -1442.0957417641403, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -81.77197462272031, + -1444.6938179754936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -83.27197462272031, + -1447.291894186847, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -84.77197462272031, + -1449.8899703982004, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -86.27197462272031, + -1452.4880466095537, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -87.77197462272031, + -1455.0861228209071, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -89.27197462272031, + -1457.6841990322605, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -90.77197462272031, + -1460.2822752436139, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -92.27197462272031, + -1462.8803514549672, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -93.77197462272031, + -1465.4784276663206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -95.27197462272031, + -1468.076503877674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -96.77197462272031, + -1470.6745800890274, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -98.27197462272031, + -1473.2726563003807, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -99.77197462272031, + -1475.870732511734, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -101.27197462272031, + -1478.4688087230875, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -101.27197462272031, + -1478.4688087230875, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -101.27197462272031, + -1481.4688087230875, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -101.27197462272031, + -1484.4688087230875, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -101.27197462272031, + -1487.4688087230875, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -101.27197462272031, + -1490.4688087230875, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -101.27197462272031, + -1493.4688087230875, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -101.27197462272031, + -1496.4688087230875, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -101.27197462272031, + -1496.4688087230875, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -101.27197462272031, + -1496.4688087230875, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -103.87005083407362, + -1497.9688087230875, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -106.46812704542694, + -1499.4688087230875, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -109.06620325678026, + -1500.9688087230875, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -111.66427946813357, + -1502.4688087230875, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -114.26235567948689, + -1503.9688087230875, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -116.8604318908402, + -1505.4688087230875, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -119.45850810219352, + -1506.9688087230875, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -122.05658431354684, + -1508.4688087230875, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -124.65466052490015, + -1509.9688087230875, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -127.25273673625347, + -1511.4688087230875, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -129.85081294760678, + -1512.9688087230875, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -132.4488891589601, + -1514.4688087230875, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -135.04696537031342, + -1515.9688087230875, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -137.64504158166673, + -1517.4688087230875, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -140.24311779302005, + -1518.9688087230875, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -142.84119400437336, + -1520.4688087230875, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -145.43927021572668, + -1521.9688087230875, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -148.03734642708, + -1523.4688087230875, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -150.6354226384333, + -1524.9688087230875, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -153.23349884978663, + -1526.4688087230875, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -155.83157506113994, + -1527.9688087230875, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -155.83157506113994, + -1527.9688087230875, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -157.33157506113994, + -1530.5668849344408, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -158.83157506113994, + -1533.1649611457942, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -160.33157506113994, + -1535.7630373571476, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-15-5_682736626/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-15-5_682736626/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..972022325f10c2ca4dbf152eb3eea4b215b1a8d3 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-15-5_682736626/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -655.604501341867, + -1782.3006545007393, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -657.104501341867, + -1784.8987307120926, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -658.604501341867, + -1787.496806923446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -660.104501341867, + -1790.0948831347994, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -661.604501341867, + -1792.6929593461527, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -663.104501341867, + -1795.2910355575061, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -664.604501341867, + -1797.8891117688595, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -666.104501341867, + -1800.4871879802129, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -667.604501341867, + -1803.0852641915662, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -669.104501341867, + -1805.6833404029196, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -670.604501341867, + -1808.281416614273, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -672.104501341867, + -1810.8794928256264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -673.604501341867, + -1813.4775690369797, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -675.104501341867, + -1816.075645248333, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -676.604501341867, + -1818.6737214596865, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -678.104501341867, + -1821.2717976710398, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -679.604501341867, + -1823.8698738823932, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -681.104501341867, + -1826.4679500937466, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -682.604501341867, + -1829.0660263051, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -684.104501341867, + -1831.6641025164533, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -685.604501341867, + -1834.2621787278067, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -687.104501341867, + -1836.86025493916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -688.604501341867, + -1839.4583311505135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -690.104501341867, + -1842.0564073618668, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -691.604501341867, + -1844.6544835732202, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -693.104501341867, + -1847.2525597845736, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -694.604501341867, + -1849.850635995927, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -696.104501341867, + -1852.4487122072803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -697.604501341867, + -1855.0467884186337, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -699.104501341867, + -1857.644864629987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -700.604501341867, + -1860.2429408413404, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -702.104501341867, + -1862.8410170526938, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -703.604501341867, + -1865.4390932640472, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -705.104501341867, + -1868.0371694754006, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -706.604501341867, + -1870.635245686754, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -708.104501341867, + -1873.2333218981073, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -709.604501341867, + -1875.8313981094607, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -711.104501341867, + -1878.429474320814, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -711.104501341867, + -1878.429474320814, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -711.104501341867, + -1881.429474320814, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -711.104501341867, + -1884.429474320814, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -711.104501341867, + -1887.429474320814, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -711.104501341867, + -1890.429474320814, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -711.104501341867, + -1893.429474320814, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -711.104501341867, + -1896.429474320814, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -711.104501341867, + -1899.429474320814, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -711.104501341867, + -1902.429474320814, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -711.104501341867, + -1905.429474320814, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -711.104501341867, + -1908.429474320814, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -711.104501341867, + -1911.429474320814, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -711.104501341867, + -1911.429474320814, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -709.604501341867, + -1914.0275505321674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -708.104501341867, + -1916.6256267435208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -706.604501341867, + -1919.2237029548742, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -712.0, + -1940.0, + -205.963 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-16-1_1565306616/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-16-1_1565306616/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5f132bf2ed75a1bdedb5691fdf1ae7c2e64322f5 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-16-1_1565306616/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -947.3974035458568, + -2782.9668395691724, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -947.3974035458568, + -2785.9668395691724, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -947.3974035458568, + -2788.9668395691724, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -947.3974035458568, + -2791.9668395691724, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -947.3974035458568, + -2794.9668395691724, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -947.3974035458568, + -2797.9668395691724, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -947.3974035458568, + -2800.9668395691724, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -947.3974035458568, + -2803.9668395691724, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -947.3974035458568, + -2806.9668395691724, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -947.3974035458568, + -2809.9668395691724, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -947.3974035458568, + -2812.9668395691724, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -947.3974035458568, + -2815.9668395691724, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -947.3974035458568, + -2818.9668395691724, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -947.3974035458568, + -2821.9668395691724, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -947.3974035458568, + -2824.9668395691724, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -947.3974035458568, + -2827.9668395691724, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -947.3974035458568, + -2830.9668395691724, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -947.3974035458568, + -2833.9668395691724, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -947.3974035458568, + -2836.9668395691724, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -947.3974035458568, + -2839.9668395691724, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -947.3974035458568, + -2839.9668395691724, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -945.8974035458568, + -2842.5649157805256, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -944.3974035458568, + -2845.1629919918787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -942.8974035458568, + -2847.761068203232, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -941.3974035458568, + -2850.359144414585, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -939.8974035458568, + -2852.957220625938, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -938.3974035458568, + -2855.5552968372913, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -936.8974035458568, + -2858.1533730486444, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -935.3974035458568, + -2860.7514492599976, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -933.8974035458568, + -2863.3495254713507, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -933.8974035458568, + -2863.3495254713507, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -933.8974035458568, + -2866.3495254713507, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -933.8974035458568, + -2869.3495254713507, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -933.8974035458568, + -2872.3495254713507, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -933.8974035458568, + -2875.3495254713507, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -933.8974035458568, + -2878.3495254713507, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -933.8974035458568, + -2881.3495254713507, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -933.8974035458568, + -2884.3495254713507, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -933.8974035458568, + -2887.3495254713507, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -933.8974035458568, + -2890.3495254713507, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -933.8974035458568, + -2893.3495254713507, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -933.8974035458568, + -2896.3495254713507, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -933.8974035458568, + -2899.3495254713507, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -933.8974035458568, + -2902.3495254713507, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -933.8974035458568, + -2902.3495254713507, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -935.3974035458568, + -2904.947601682704, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -936.8974035458568, + -2907.545677894057, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -938.3974035458568, + -2910.14375410541, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -939.8974035458568, + -2912.7418303167633, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -941.3974035458568, + -2915.3399065281164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -942.8974035458568, + -2917.9379827394696, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + -2936.0, + -205.779 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-21-36_1750829613/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-21-36_1750829613/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9ab2f7d5d8180eebe23da6c18d0de1686c6e5867 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-21-36_1750829613/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -186.22599066705436, + -1592.6011794995236, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -189.22599066705436, + -1592.6011794995236, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -192.22599066705436, + -1592.6011794995236, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -192.22599066705436, + -1592.6011794995236, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -194.82406687840768, + -1591.1011794995236, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -197.422143089761, + -1589.6011794995236, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -197.422143089761, + -1589.6011794995236, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -198.922143089761, + -1587.0031032881702, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -200.422143089761, + -1584.4050270768169, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -201.922143089761, + -1581.8069508654635, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -203.422143089761, + -1579.20887465411, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -204.922143089761, + -1576.6107984427567, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -206.422143089761, + -1574.0127222314034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -207.922143089761, + -1571.41464602005, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -209.422143089761, + -1568.8165698086966, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -210.922143089761, + -1566.2184935973432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -212.422143089761, + -1563.6204173859899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -213.922143089761, + -1561.0223411746365, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -215.422143089761, + -1558.4242649632831, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -216.922143089761, + -1555.8261887519297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -218.422143089761, + -1553.2281125405764, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -219.922143089761, + -1550.630036329223, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -221.422143089761, + -1548.0319601178696, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -222.922143089761, + -1545.4338839065163, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -224.422143089761, + -1542.8358076951629, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -225.922143089761, + -1540.2377314838095, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -227.422143089761, + -1537.6396552724561, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -228.922143089761, + -1535.0415790611028, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -230.422143089761, + -1532.4435028497494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -231.922143089761, + -1529.845426638396, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -233.422143089761, + -1527.2473504270426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -234.922143089761, + -1524.6492742156893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -236.422143089761, + -1522.051198004336, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -237.922143089761, + -1519.4531217929825, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -239.422143089761, + -1516.8550455816292, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -240.922143089761, + -1514.2569693702758, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -242.422143089761, + -1511.6588931589224, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -243.922143089761, + -1509.060816947569, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -245.422143089761, + -1506.4627407362157, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -246.922143089761, + -1503.8646645248623, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -248.422143089761, + -1501.266588313509, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -249.922143089761, + -1498.6685121021555, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -251.422143089761, + -1496.0704358908022, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -252.922143089761, + -1493.4723596794488, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -252.922143089761, + -1493.4723596794488, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -252.922143089761, + -1490.4723596794488, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -252.922143089761, + -1487.4723596794488, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -252.922143089761, + -1484.4723596794488, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -252.922143089761, + -1481.4723596794488, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-34-1_87522686/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-34-1_87522686/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9e6e724921c77843d3f7c21cc426c54b50a81415 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-34-1_87522686/pose.jsonl @@ -0,0 +1,834 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -991.6533724088538, + -2769.9577510504496, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -990.1533724088538, + -2772.5558272618027, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -988.6533724088538, + -2775.153903473156, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -987.1533724088538, + -2777.751979684509, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -985.6533724088538, + -2780.350055895862, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -984.1533724088538, + -2782.9481321072153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -982.6533724088538, + -2785.5462083185685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -981.1533724088538, + -2788.1442845299216, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -979.6533724088538, + -2790.7423607412748, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -978.1533724088538, + -2793.340436952628, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -976.6533724088538, + -2795.938513163981, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -975.1533724088538, + -2798.536589375334, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -975.1533724088538, + -2798.536589375334, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -972.5552961975004, + -2800.036589375334, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -969.957219986147, + -2801.536589375334, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -967.3591437747937, + -2803.036589375334, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -964.7610675634403, + -2804.536589375334, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -962.1629913520869, + -2806.036589375334, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -959.5649151407335, + -2807.536589375334, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -956.9668389293802, + -2809.036589375334, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -956.9668389293802, + -2809.036589375334, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -955.4668389293802, + -2811.6346655866873, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -953.9668389293802, + -2814.2327417980405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -952.4668389293802, + -2816.8308180093936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -950.9668389293802, + -2819.4288942207468, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -949.4668389293802, + -2822.0269704321, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -947.9668389293802, + -2824.625046643453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -946.4668389293802, + -2827.223122854806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -944.9668389293802, + -2829.8211990661594, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -943.4668389293802, + -2832.4192752775125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -941.9668389293802, + -2835.0173514888656, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -940.4668389293802, + -2837.615427700219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -938.9668389293802, + -2840.213503911572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -937.4668389293802, + -2842.811580122925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -935.9668389293802, + -2845.409656334278, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -935.9668389293802, + -2845.409656334278, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -935.9668389293802, + -2848.409656334278, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -935.9668389293802, + -2851.409656334278, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -935.9668389293802, + -2854.409656334278, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -935.9668389293802, + -2857.409656334278, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -935.9668389293802, + -2860.409656334278, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -935.9668389293802, + -2863.409656334278, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -935.9668389293802, + -2866.409656334278, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -935.9668389293802, + -2869.409656334278, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -935.9668389293802, + -2872.409656334278, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -935.9668389293802, + -2875.409656334278, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -935.9668389293802, + -2878.409656334278, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -935.9668389293802, + -2881.409656334278, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -935.9668389293802, + -2884.409656334278, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -935.9668389293802, + -2887.409656334278, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -935.9668389293802, + -2890.409656334278, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -935.9668389293802, + -2893.409656334278, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -935.9668389293802, + -2896.409656334278, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -935.9668389293802, + -2896.409656334278, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -937.4668389293802, + -2899.0077325456314, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -938.9668389293802, + -2901.6058087569845, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -940.4668389293802, + -2904.2038849683377, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -941.9668389293802, + -2906.801961179691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -943.4668389293802, + -2909.400037391044, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -943.4668389293802, + -2909.400037391044, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794925 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -943.4668389293802, + -2912.400037391044, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -943.4668389293802, + -2915.400037391044, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -943.4668389293802, + -2918.400037391044, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + -2936.0, + -205.779 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-39-45_1989352324/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-39-45_1989352324/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2beb36b87040f26cacf82a602e4bff237c834d1b --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-39-45_1989352324/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -804.1377265671265, + -1801.7385040917627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -802.6377265671265, + -1804.336580303116, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -801.1377265671265, + -1806.9346565144695, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -799.6377265671265, + -1809.5327327258228, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -799.6377265671265, + -1809.5327327258228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -799.6377265671265, + -1812.5327327258228, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -799.6377265671265, + -1812.5327327258228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -798.1377265671265, + -1815.1308089371762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -796.6377265671265, + -1817.7288851485296, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -795.1377265671265, + -1820.326961359883, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -793.6377265671265, + -1822.9250375712363, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -792.1377265671265, + -1825.5231137825897, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -790.6377265671265, + -1828.121189993943, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -789.1377265671265, + -1830.7192662052964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -787.6377265671265, + -1833.3173424166498, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -786.1377265671265, + -1835.9154186280032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -784.6377265671265, + -1838.5134948393566, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -783.1377265671265, + -1841.11157105071, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -781.6377265671265, + -1843.7096472620633, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -780.1377265671265, + -1846.3077234734167, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -778.6377265671265, + -1848.90579968477, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -777.1377265671265, + -1851.5038758961234, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -775.6377265671265, + -1854.1019521074768, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -774.1377265671265, + -1856.7000283188302, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -772.6377265671265, + -1859.2981045301835, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -771.1377265671265, + -1861.896180741537, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -769.6377265671265, + -1864.4942569528903, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -768.1377265671265, + -1867.0923331642437, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -766.6377265671265, + -1869.690409375597, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -765.1377265671265, + -1872.2884855869504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -763.6377265671265, + -1874.8865617983038, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -762.1377265671265, + -1877.4846380096571, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -760.6377265671265, + -1880.0827142210105, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -759.1377265671265, + -1882.680790432364, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -757.6377265671265, + -1885.2788666437173, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -756.1377265671265, + -1887.8769428550706, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -754.6377265671265, + -1890.475019066424, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -753.1377265671265, + -1893.0730952777774, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -751.6377265671265, + -1895.6711714891308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -750.1377265671265, + -1898.2692477004841, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -748.6377265671265, + -1900.8673239118375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -747.1377265671265, + -1903.4654001231909, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -745.6377265671265, + -1906.0634763345442, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -744.1377265671265, + -1908.6615525458976, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -744.1377265671265, + -1908.6615525458976, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -741.5396503557731, + -1910.1615525458976, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -738.9415741444197, + -1911.6615525458976, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -736.3434979330664, + -1913.1615525458976, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -733.745421721713, + -1914.6615525458976, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -731.1473455103596, + -1916.1615525458976, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -728.5492692990063, + -1917.6615525458976, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -725.9511930876529, + -1919.1615525458976, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -723.3531168762995, + -1920.6615525458976, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -712.0, + -1940.0, + -205.963 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-5-52_2084546560/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-5-52_2084546560/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..139b04e66819921f2c5942313f1d0cee55bebfdc --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-5-52_2084546560/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -654.9984433435382, + -1787.3886613766792, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -656.4984433435382, + -1789.9867375880326, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -657.9984433435382, + -1792.584813799386, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -659.4984433435382, + -1795.1828900107394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -660.9984433435382, + -1797.7809662220927, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -662.4984433435382, + -1800.379042433446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -663.9984433435382, + -1802.9771186447995, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -665.4984433435382, + -1805.5751948561528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -666.9984433435382, + -1808.1732710675062, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -668.4984433435382, + -1810.7713472788596, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -669.9984433435382, + -1813.369423490213, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -671.4984433435382, + -1815.9674997015663, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -672.9984433435382, + -1818.5655759129197, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -674.4984433435382, + -1821.163652124273, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -675.9984433435382, + -1823.7617283356265, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -677.4984433435382, + -1826.3598045469798, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -678.9984433435382, + -1828.9578807583332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -680.4984433435382, + -1831.5559569696866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -681.9984433435382, + -1834.15403318104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -683.4984433435382, + -1836.7521093923933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -684.9984433435382, + -1839.3501856037467, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -686.4984433435382, + -1841.9482618151, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -687.9984433435382, + -1844.5463380264534, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -689.4984433435382, + -1847.1444142378068, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -690.9984433435382, + -1849.7424904491602, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -692.4984433435382, + -1852.3405666605136, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -693.9984433435382, + -1854.938642871867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -695.4984433435382, + -1857.5367190832203, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -695.4984433435382, + -1857.5367190832203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -695.4984433435382, + -1860.5367190832203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -695.4984433435382, + -1863.5367190832203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -695.4984433435382, + -1866.5367190832203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -695.4984433435382, + -1869.5367190832203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -695.4984433435382, + -1872.5367190832203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -695.4984433435382, + -1875.5367190832203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -695.4984433435382, + -1878.5367190832203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -695.4984433435382, + -1881.5367190832203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -695.4984433435382, + -1884.5367190832203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -695.4984433435382, + -1887.5367190832203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -695.4984433435382, + -1890.5367190832203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -695.4984433435382, + -1893.5367190832203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -695.4984433435382, + -1896.5367190832203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -695.4984433435382, + -1899.5367190832203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -695.4984433435382, + -1902.5367190832203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -695.4984433435382, + -1905.5367190832203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -695.4984433435382, + -1908.5367190832203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -695.4984433435382, + -1911.5367190832203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -695.4984433435382, + -1914.5367190832203, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -695.4984433435382, + -1914.5367190832203, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -695.4984433435382, + -1914.5367190832203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -698.0965195548915, + -1916.0367190832203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -700.6945957662449, + -1917.5367190832203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -703.2926719775983, + -1919.0367190832203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -705.8907481889516, + -1920.5367190832203, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -712.0, + -1940.0, + -205.963 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-54-9_1891066487/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-54-9_1891066487/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d87aec641b99f7ec9b5e9a285c054ac9a8019bb4 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-54-9_1891066487/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 361.9567470758642, + -1272.9021356693925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 359.3586708645109, + -1274.4021356693925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 356.76059465315757, + -1275.9021356693925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 354.16251844180425, + -1277.4021356693925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 351.56444223045094, + -1278.9021356693925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 348.9663660190976, + -1280.4021356693925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 346.3682898077443, + -1281.9021356693925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 343.770213596391, + -1283.4021356693925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 341.1721373850377, + -1284.9021356693925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 338.57406117368436, + -1286.4021356693925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 335.97598496233104, + -1287.9021356693925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 333.3779087509777, + -1289.4021356693925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 330.7798325396244, + -1290.9021356693925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 328.1817563282711, + -1292.4021356693925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 325.5836801169178, + -1293.9021356693925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 322.98560390556446, + -1295.4021356693925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 320.38752769421114, + -1296.9021356693925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 317.7894514828578, + -1298.4021356693925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 315.1913752715045, + -1299.9021356693925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 312.5932990601512, + -1301.4021356693925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 309.9952228487979, + -1302.9021356693925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 307.39714663744456, + -1304.4021356693925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 304.79907042609125, + -1305.9021356693925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 302.20099421473793, + -1307.4021356693925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 299.6029180033846, + -1308.9021356693925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 297.0048417920313, + -1310.4021356693925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 294.406765580678, + -1311.9021356693925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 291.80868936932467, + -1313.4021356693925, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 291.80868936932467, + -1313.4021356693925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 290.30868936932467, + -1316.0002118807458, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 288.80868936932467, + -1318.5982880920992, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 287.30868936932467, + -1321.1963643034526, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 285.80868936932467, + -1323.794440514806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 284.30868936932467, + -1326.3925167261593, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 282.80868936932467, + -1328.9905929375127, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 281.30868936932467, + -1331.588669148866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 279.80868936932467, + -1334.1867453602194, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 278.30868936932467, + -1336.7848215715728, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 276.80868936932467, + -1339.3828977829262, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 275.30868936932467, + -1341.9809739942796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 273.80868936932467, + -1344.579050205633, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 272.30868936932467, + -1347.1771264169863, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 270.80868936932467, + -1349.7752026283397, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 270.80868936932467, + -1349.7752026283397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 268.21061315797135, + -1351.2752026283397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 265.61253694661804, + -1352.7752026283397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 263.0144607352647, + -1354.2752026283397, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-59-44_1967632854/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-59-44_1967632854/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6d6bde10a094eaa5a4f60441f8cdd79c5b8fe926 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-59-44_1967632854/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 14.065969752251405, + -1527.1633341673191, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 15.565969752251405, + -1529.7614103786725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 17.065969752251405, + -1532.3594865900259, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 18.565969752251405, + -1534.9575628013793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 20.065969752251405, + -1537.5556390127326, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 21.565969752251405, + -1540.153715224086, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 23.065969752251405, + -1542.7517914354394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 24.565969752251405, + -1545.3498676467927, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 26.065969752251405, + -1547.9479438581461, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 27.565969752251405, + -1550.5460200694995, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 29.065969752251405, + -1553.1440962808529, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 30.565969752251405, + -1555.7421724922062, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 32.065969752251405, + -1558.3402487035596, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 33.565969752251405, + -1560.938324914913, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 35.065969752251405, + -1563.5364011262664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 36.565969752251405, + -1566.1344773376197, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 38.065969752251405, + -1568.732553548973, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 39.565969752251405, + -1571.3306297603265, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 41.065969752251405, + -1573.9287059716798, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 42.565969752251405, + -1576.5267821830332, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 42.565969752251405, + -1576.5267821830332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 42.565969752251405, + -1579.5267821830332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 42.565969752251405, + -1582.5267821830332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 42.565969752251405, + -1585.5267821830332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 42.565969752251405, + -1588.5267821830332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 42.565969752251405, + -1591.5267821830332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 42.565969752251405, + -1594.5267821830332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 42.565969752251405, + -1597.5267821830332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 42.565969752251405, + -1600.5267821830332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 42.565969752251405, + -1603.5267821830332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 42.565969752251405, + -1606.5267821830332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 42.565969752251405, + -1609.5267821830332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 42.565969752251405, + -1612.5267821830332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 42.565969752251405, + -1615.5267821830332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 42.565969752251405, + -1618.5267821830332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 42.565969752251405, + -1621.5267821830332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 42.565969752251405, + -1624.5267821830332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 42.565969752251405, + -1627.5267821830332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 42.565969752251405, + -1630.5267821830332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 42.565969752251405, + -1633.5267821830332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 42.565969752251405, + -1636.5267821830332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 42.565969752251405, + -1639.5267821830332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 42.565969752251405, + -1642.5267821830332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 42.565969752251405, + -1645.5267821830332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 42.565969752251405, + -1648.5267821830332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 42.565969752251405, + -1651.5267821830332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 42.565969752251405, + -1654.5267821830332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 42.565969752251405, + -1657.5267821830332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 42.565969752251405, + -1660.5267821830332, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 42.565969752251405, + -1660.5267821830332, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 42.565969752251405, + -1660.5267821830332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 45.16404596360472, + -1662.0267821830332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 47.76212217495804, + -1663.5267821830332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 50.36019838631135, + -1665.0267821830332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 52.95827459766467, + -1666.5267821830332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 55.556350809017985, + -1668.0267821830332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 58.1544270203713, + -1669.5267821830332, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -1696.0, + -213.853 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_20-28-57_1714636915/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_20-28-57_1714636915/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e0b9dc22632093ea8dc72f90892c28d6e3ff815e --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_20-28-57_1714636915/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 386.43729685881, + -1330.2258042900512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 389.0353730701633, + -1328.7258042900512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 391.6334492815166, + -1327.2258042900512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 394.23152549286993, + -1325.7258042900512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 396.82960170422325, + -1324.2258042900512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 399.42767791557657, + -1322.7258042900512, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 399.42767791557657, + -1322.7258042900512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 400.92767791557657, + -1320.1277280786978, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 402.42767791557657, + -1317.5296518673445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 403.92767791557657, + -1314.931575655991, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 405.42767791557657, + -1312.3334994446377, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 406.92767791557657, + -1309.7354232332843, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 408.42767791557657, + -1307.137347021931, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 409.92767791557657, + -1304.5392708105776, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 411.42767791557657, + -1301.9411945992242, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 412.92767791557657, + -1299.3431183878708, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 412.92767791557657, + -1299.3431183878708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 415.5257541269299, + -1297.8431183878708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 418.1238303382832, + -1296.3431183878708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 420.7219065496365, + -1294.8431183878708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 423.31998276098983, + -1293.3431183878708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 425.91805897234315, + -1291.8431183878708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 428.51613518369646, + -1290.3431183878708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 431.1142113950498, + -1288.8431183878708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 433.7122876064031, + -1287.3431183878708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 436.3103638177564, + -1285.8431183878708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 438.9084400291097, + -1284.3431183878708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 441.50651624046304, + -1282.8431183878708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 444.10459245181636, + -1281.3431183878708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 446.7026686631697, + -1279.8431183878708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 449.300744874523, + -1278.3431183878708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 451.8988210858763, + -1276.8431183878708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 454.4968972972296, + -1275.3431183878708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 457.09497350858294, + -1273.8431183878708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 459.69304971993625, + -1272.3431183878708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 462.29112593128957, + -1270.8431183878708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 464.8892021426429, + -1269.3431183878708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 467.4872783539962, + -1267.8431183878708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 470.0853545653495, + -1266.3431183878708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 472.68343077670283, + -1264.8431183878708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 475.28150698805615, + -1263.3431183878708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 477.87958319940947, + -1261.8431183878708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 480.4776594107628, + -1260.3431183878708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 483.0757356221161, + -1258.8431183878708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 485.6738118334694, + -1257.3431183878708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 488.27188804482273, + -1255.8431183878708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 490.86996425617605, + -1254.3431183878708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 493.46804046752936, + -1252.8431183878708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 496.0661166788827, + -1251.3431183878708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 498.664192890236, + -1249.8431183878708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 501.2622691015893, + -1248.3431183878708, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 501.2622691015893, + -1248.3431183878708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 502.7622691015893, + -1245.7450421765175, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 504.2622691015893, + -1243.146965965164, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 528.0, + -1224.0, + -203.312 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_20-29-28_1957747793/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_20-29-28_1957747793/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5a830e78973a46c0fc7141788a83bb36c9a7c8d6 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_20-29-28_1957747793/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 399.55290106900384, + -1366.8832273090152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 396.9548248576505, + -1368.3832273090152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 394.3567486462972, + -1369.8832273090152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 391.7586724349439, + -1371.3832273090152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 389.1605962235906, + -1372.8832273090152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 386.56252001223726, + -1374.3832273090152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 383.96444380088394, + -1375.8832273090152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 381.3663675895306, + -1377.3832273090152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 378.7682913781773, + -1378.8832273090152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 376.170215166824, + -1380.3832273090152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 373.5721389554707, + -1381.8832273090152, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 373.5721389554707, + -1381.8832273090152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 370.5721389554707, + -1381.8832273090152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 367.5721389554707, + -1381.8832273090152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 364.5721389554707, + -1381.8832273090152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 361.5721389554707, + -1381.8832273090152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 358.5721389554707, + -1381.8832273090152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 355.5721389554707, + -1381.8832273090152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 352.5721389554707, + -1381.8832273090152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 349.5721389554707, + -1381.8832273090152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 346.5721389554707, + -1381.8832273090152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 343.5721389554707, + -1381.8832273090152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 340.5721389554707, + -1381.8832273090152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 337.5721389554707, + -1381.8832273090152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 334.5721389554707, + -1381.8832273090152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 331.5721389554707, + -1381.8832273090152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 328.5721389554707, + -1381.8832273090152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 325.5721389554707, + -1381.8832273090152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 322.5721389554707, + -1381.8832273090152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 319.5721389554707, + -1381.8832273090152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 316.5721389554707, + -1381.8832273090152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 313.5721389554707, + -1381.8832273090152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 310.5721389554707, + -1381.8832273090152, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 310.5721389554707, + -1381.8832273090152, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 310.5721389554707, + -1381.8832273090152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 309.0721389554707, + -1379.2851510976618, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 307.5721389554707, + -1376.6870748863084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 306.0721389554707, + -1374.088998674955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 304.5721389554707, + -1371.4909224636017, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 303.0721389554707, + -1368.8928462522483, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 301.5721389554707, + -1366.294770040895, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 300.0721389554707, + -1363.6966938295416, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 298.5721389554707, + -1361.0986176181882, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 297.0721389554707, + -1358.5005414068348, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 295.5721389554707, + -1355.9024651954815, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 294.0721389554707, + -1353.304388984128, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 292.5721389554707, + -1350.7063127727747, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 291.0721389554707, + -1348.1082365614213, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 289.5721389554707, + -1345.510160350068, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 288.0721389554707, + -1342.9120841387146, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 286.5721389554707, + -1340.3140079273612, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 285.0721389554707, + -1337.7159317160078, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 283.5721389554707, + -1335.1178555046545, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 282.0721389554707, + -1332.519779293301, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 282.0721389554707, + -1332.519779293301, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 279.47406274411736, + -1331.019779293301, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 276.87598653276405, + -1329.519779293301, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 274.27791032141073, + -1328.019779293301, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 271.6798341100574, + -1326.519779293301, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_20-34-4_1102520059/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_20-34-4_1102520059/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d39a3c5e19f8924e807453a792285c02fbd0e9d7 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_20-34-4_1102520059/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -825.75158276867, + -1932.8021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -822.75158276867, + -1932.8021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -819.75158276867, + -1932.8021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -816.75158276867, + -1932.8021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -813.75158276867, + -1932.8021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -810.75158276867, + -1932.8021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -807.75158276867, + -1932.8021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -804.75158276867, + -1932.8021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -801.75158276867, + -1932.8021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -798.75158276867, + -1932.8021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -795.75158276867, + -1932.8021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -792.75158276867, + -1932.8021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -789.75158276867, + -1932.8021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -786.75158276867, + -1932.8021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -783.75158276867, + -1932.8021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -780.75158276867, + -1932.8021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -777.75158276867, + -1932.8021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -774.75158276867, + -1932.8021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -771.75158276867, + -1932.8021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -768.75158276867, + -1932.8021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -765.75158276867, + -1932.8021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -762.75158276867, + -1932.8021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -759.75158276867, + -1932.8021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -756.75158276867, + -1932.8021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -753.75158276867, + -1932.8021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -750.75158276867, + -1932.8021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -747.75158276867, + -1932.8021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -744.75158276867, + -1932.8021531157872, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -744.75158276867, + -1932.8021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -742.1535065573166, + -1931.3021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -739.5554303459633, + -1929.8021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -736.9573541346099, + -1928.3021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -734.3592779232565, + -1926.8021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -731.7612017119031, + -1925.3021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -729.1631255005498, + -1923.8021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -726.5650492891964, + -1922.3021531157872, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -726.5650492891964, + -1922.3021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -723.5650492891964, + -1922.3021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -720.5650492891964, + -1922.3021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -717.5650492891964, + -1922.3021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -714.5650492891964, + -1922.3021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -711.5650492891964, + -1922.3021531157872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -708.5650492891964, + -1922.3021531157872, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_20-41-17_233665123/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_20-41-17_233665123/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4529ff5d294a26f42947ca377da66c95d523a4bf --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_20-41-17_233665123/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -155.63007543464468, + -1558.704325683159, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -157.13007543464468, + -1556.1062494718055, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -158.63007543464468, + -1553.5081732604522, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -160.13007543464468, + -1550.9100970490988, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -161.63007543464468, + -1548.3120208377454, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -163.13007543464468, + -1545.713944626392, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -164.63007543464468, + -1543.1158684150387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -166.13007543464468, + -1540.5177922036853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -167.63007543464468, + -1537.919715992332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -169.13007543464468, + -1535.3216397809786, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -170.63007543464468, + -1532.7235635696252, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -172.13007543464468, + -1530.1254873582718, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -173.63007543464468, + -1527.5274111469184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -175.13007543464468, + -1524.929334935565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -176.63007543464468, + -1522.3312587242117, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -178.13007543464468, + -1519.7331825128583, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -179.63007543464468, + -1517.135106301505, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -181.13007543464468, + -1514.5370300901516, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -181.13007543464468, + -1514.5370300901516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -183.728151645998, + -1513.0370300901516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -186.3262278573513, + -1511.5370300901516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -188.92430406870463, + -1510.0370300901516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -191.52238028005794, + -1508.5370300901516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -194.12045649141126, + -1507.0370300901516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -196.71853270276458, + -1505.5370300901516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -199.3166089141179, + -1504.0370300901516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -201.9146851254712, + -1502.5370300901516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -204.51276133682452, + -1501.0370300901516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -207.11083754817784, + -1499.5370300901516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -209.70891375953116, + -1498.0370300901516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -212.30698997088447, + -1496.5370300901516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -214.9050661822378, + -1495.0370300901516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -217.5031423935911, + -1493.5370300901516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -220.10121860494442, + -1492.0370300901516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -222.69929481629774, + -1490.5370300901516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -225.29737102765105, + -1489.0370300901516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -227.89544723900437, + -1487.5370300901516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -230.49352345035769, + -1486.0370300901516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -233.091599661711, + -1484.5370300901516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -235.68967587306432, + -1483.0370300901516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -238.28775208441763, + -1481.5370300901516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -240.88582829577095, + -1480.0370300901516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -243.48390450712427, + -1478.5370300901516, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-22-54_603570492/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-22-54_603570492/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..45fee9b8ae1b76b18b81bdaa2b60083b5d049b0f --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-22-54_603570492/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -663.4788590662508, + -1794.5463547990516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -664.9788590662508, + -1797.144431010405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -666.4788590662508, + -1799.7425072217584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -667.9788590662508, + -1802.3405834331118, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -669.4788590662508, + -1804.9386596444651, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -670.9788590662508, + -1807.5367358558185, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -672.4788590662508, + -1810.1348120671719, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -673.9788590662508, + -1812.7328882785253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -675.4788590662508, + -1815.3309644898786, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -676.9788590662508, + -1817.929040701232, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -678.4788590662508, + -1820.5271169125854, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -679.9788590662508, + -1823.1251931239387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -681.4788590662508, + -1825.7232693352921, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -682.9788590662508, + -1828.3213455466455, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -684.4788590662508, + -1830.9194217579989, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -685.9788590662508, + -1833.5174979693522, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -687.4788590662508, + -1836.1155741807056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -688.9788590662508, + -1838.713650392059, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -690.4788590662508, + -1841.3117266034124, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -691.9788590662508, + -1843.9098028147657, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -693.4788590662508, + -1846.507879026119, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -693.4788590662508, + -1846.507879026119, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -693.4788590662508, + -1849.507879026119, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -693.4788590662508, + -1852.507879026119, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -693.4788590662508, + -1855.507879026119, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -693.4788590662508, + -1858.507879026119, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -693.4788590662508, + -1861.507879026119, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -693.4788590662508, + -1864.507879026119, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -693.4788590662508, + -1867.507879026119, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -693.4788590662508, + -1870.507879026119, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -693.4788590662508, + -1873.507879026119, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -693.4788590662508, + -1876.507879026119, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -693.4788590662508, + -1879.507879026119, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -693.4788590662508, + -1882.507879026119, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -693.4788590662508, + -1885.507879026119, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -693.4788590662508, + -1888.507879026119, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -693.4788590662508, + -1891.507879026119, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -693.4788590662508, + -1894.507879026119, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -693.4788590662508, + -1897.507879026119, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -693.4788590662508, + -1900.507879026119, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -693.4788590662508, + -1903.507879026119, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -693.4788590662508, + -1906.507879026119, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -693.4788590662508, + -1909.507879026119, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -693.4788590662508, + -1912.507879026119, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -693.4788590662508, + -1915.507879026119, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -693.4788590662508, + -1915.507879026119, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -693.4788590662508, + -1915.507879026119, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -696.0769352776042, + -1917.007879026119, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -698.6750114889576, + -1918.507879026119, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -701.273087700311, + -1920.007879026119, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -703.8711639116643, + -1921.507879026119, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -712.0, + -1940.0, + -205.963 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-27-32_364228444/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-27-32_364228444/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e0b2a7a5aee275729e0096c59916e388eaa0ef56 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-27-32_364228444/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -703.5512970501817, + -1786.1446248109148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -703.5512970501817, + -1789.1446248109148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -703.5512970501817, + -1792.1446248109148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -703.5512970501817, + -1795.1446248109148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -703.5512970501817, + -1798.1446248109148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -703.5512970501817, + -1801.1446248109148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -703.5512970501817, + -1804.1446248109148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -703.5512970501817, + -1807.1446248109148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -703.5512970501817, + -1810.1446248109148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -703.5512970501817, + -1813.1446248109148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -703.5512970501817, + -1816.1446248109148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -703.5512970501817, + -1819.1446248109148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -703.5512970501817, + -1822.1446248109148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -703.5512970501817, + -1825.1446248109148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -703.5512970501817, + -1828.1446248109148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -703.5512970501817, + -1831.1446248109148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -703.5512970501817, + -1834.1446248109148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -703.5512970501817, + -1837.1446248109148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -703.5512970501817, + -1840.1446248109148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -703.5512970501817, + -1843.1446248109148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -703.5512970501817, + -1846.1446248109148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -703.5512970501817, + -1849.1446248109148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -703.5512970501817, + -1852.1446248109148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -703.5512970501817, + -1855.1446248109148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -703.5512970501817, + -1858.1446248109148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -703.5512970501817, + -1861.1446248109148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -703.5512970501817, + -1864.1446248109148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -703.5512970501817, + -1867.1446248109148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -703.5512970501817, + -1870.1446248109148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -703.5512970501817, + -1873.1446248109148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -703.5512970501817, + -1876.1446248109148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -703.5512970501817, + -1879.1446248109148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -703.5512970501817, + -1882.1446248109148, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -703.5512970501817, + -1882.1446248109148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -705.0512970501817, + -1884.7427010222682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -706.5512970501817, + -1887.3407772336216, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -708.0512970501817, + -1889.938853444975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -709.5512970501817, + -1892.5369296563283, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -711.0512970501817, + -1895.1350058676817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -712.5512970501817, + -1897.733082079035, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -712.5512970501817, + -1897.733082079035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -712.5512970501817, + -1900.733082079035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -712.5512970501817, + -1903.733082079035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -712.5512970501817, + -1906.733082079035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -712.5512970501817, + -1909.733082079035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -712.5512970501817, + -1912.733082079035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -712.5512970501817, + -1915.733082079035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -712.5512970501817, + -1918.733082079035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -712.5512970501817, + -1921.733082079035, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -712.0, + -1940.0, + -205.963 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-40-2_1120048829/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-40-2_1120048829/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fa5dd7acc26c683c7adb6bda1b7ed4c8bfa555b8 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-40-2_1120048829/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 194.63569686604797, + -1593.6963565871424, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 192.03762065469465, + -1595.1963565871424, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 189.43954444334133, + -1596.6963565871424, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 186.84146823198802, + -1598.1963565871424, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 184.2433920206347, + -1599.6963565871424, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 181.64531580928139, + -1601.1963565871424, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 179.04723959792807, + -1602.6963565871424, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 176.44916338657475, + -1604.1963565871424, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 173.85108717522144, + -1605.6963565871424, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 171.25301096386812, + -1607.1963565871424, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 168.6549347525148, + -1608.6963565871424, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 166.0568585411615, + -1610.1963565871424, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 163.45878232980817, + -1611.6963565871424, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 160.86070611845486, + -1613.1963565871424, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 158.26262990710154, + -1614.6963565871424, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 155.66455369574822, + -1616.1963565871424, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 153.0664774843949, + -1617.6963565871424, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 150.4684012730416, + -1619.1963565871424, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 147.87032506168828, + -1620.6963565871424, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 145.27224885033496, + -1622.1963565871424, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 142.67417263898164, + -1623.6963565871424, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 142.67417263898164, + -1623.6963565871424, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 141.17417263898164, + -1626.2944327984958, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 139.67417263898164, + -1628.8925090098492, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 138.17417263898164, + -1631.4905852212025, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 136.67417263898164, + -1634.088661432556, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 135.17417263898164, + -1636.6867376439093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 133.67417263898164, + -1639.2848138552627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 132.17417263898164, + -1641.882890066616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 130.67417263898164, + -1644.4809662779694, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 129.17417263898164, + -1647.0790424893228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 127.67417263898164, + -1649.6771187006761, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 126.17417263898164, + -1652.2751949120295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 124.67417263898164, + -1654.873271123383, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 123.17417263898164, + -1657.4713473347363, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 121.67417263898164, + -1660.0694235460896, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 120.17417263898164, + -1662.667499757443, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 120.17417263898164, + -1662.667499757443, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 117.57609642762833, + -1664.167499757443, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 114.97802021627501, + -1665.667499757443, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 112.3799440049217, + -1667.167499757443, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 109.78186779356838, + -1668.667499757443, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 107.18379158221506, + -1670.167499757443, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 104.58571537086175, + -1671.667499757443, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 104.58571537086175, + -1671.667499757443, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 101.58571537086175, + -1671.667499757443, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 98.58571537086175, + -1671.667499757443, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -1696.0, + -213.853 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-5-28_1548233367/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-5-28_1548233367/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ee45ea7b114261137b4de1bdd8c714daec0918a5 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-5-28_1548233367/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 408.98260073890606, + -1376.9823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 406.38452452755274, + -1378.4823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 403.7864483161994, + -1379.9823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 401.1883721048461, + -1381.4823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 398.5902958934928, + -1382.9823122777345, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 398.5902958934928, + -1382.9823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 395.5902958934928, + -1382.9823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 392.5902958934928, + -1382.9823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 389.5902958934928, + -1382.9823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 386.5902958934928, + -1382.9823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 383.5902958934928, + -1382.9823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 380.5902958934928, + -1382.9823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 377.5902958934928, + -1382.9823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 374.5902958934928, + -1382.9823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 371.5902958934928, + -1382.9823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 368.5902958934928, + -1382.9823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 365.5902958934928, + -1382.9823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 362.5902958934928, + -1382.9823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 359.5902958934928, + -1382.9823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 356.5902958934928, + -1382.9823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 353.5902958934928, + -1382.9823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 350.5902958934928, + -1382.9823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 347.5902958934928, + -1382.9823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 344.5902958934928, + -1382.9823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 341.5902958934928, + -1382.9823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 338.5902958934928, + -1382.9823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 335.5902958934928, + -1382.9823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 332.5902958934928, + -1382.9823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 329.5902958934928, + -1382.9823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 326.5902958934928, + -1382.9823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 323.5902958934928, + -1382.9823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 320.5902958934928, + -1382.9823122777345, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 320.5902958934928, + -1382.9823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 317.9922196821395, + -1381.4823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 315.39414347078616, + -1379.9823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 312.79606725943285, + -1378.4823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 310.19799104807953, + -1376.9823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 307.5999148367262, + -1375.4823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 305.0018386253729, + -1373.9823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 302.4037624140196, + -1372.4823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 299.80568620266627, + -1370.9823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 297.20760999131295, + -1369.4823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 294.60953377995963, + -1367.9823122777345, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 294.60953377995963, + -1367.9823122777345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 293.10953377995963, + -1365.3842360663812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 291.60953377995963, + -1362.7861598550278, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 290.10953377995963, + -1360.1880836436744, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 288.60953377995963, + -1357.590007432321, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 287.10953377995963, + -1354.9919312209677, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 285.60953377995963, + -1352.3938550096143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 284.10953377995963, + -1349.795778798261, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 282.60953377995963, + -1347.1977025869076, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 281.10953377995963, + -1344.5996263755542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 279.60953377995963, + -1342.0015501642008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 278.10953377995963, + -1339.4034739528474, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 276.60953377995963, + -1336.805397741494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 275.10953377995963, + -1334.2073215301407, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 273.60953377995963, + -1331.6092453187873, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 272.10953377995963, + -1329.011169107434, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 272.10953377995963, + -1329.011169107434, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 269.5114575686063, + -1327.511169107434, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914846 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-14-26_532670688/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-14-26_532670688/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8c80b1d10a8dd4af1f2dda96ef1e91689b3091f6 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-14-26_532670688/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 390.6099623462002, + -1463.2186415985561, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 388.01188613484686, + -1464.7186415985561, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 385.41380992349355, + -1466.2186415985561, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 382.81573371214023, + -1467.7186415985561, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 380.2176575007869, + -1469.2186415985561, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 377.6195812894336, + -1470.7186415985561, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 375.0215050780803, + -1472.2186415985561, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 372.42342886672697, + -1473.7186415985561, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 369.82535265537365, + -1475.2186415985561, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 367.22727644402033, + -1476.7186415985561, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 364.629200232667, + -1478.2186415985561, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 364.629200232667, + -1478.2186415985561, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 361.629200232667, + -1478.2186415985561, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 358.629200232667, + -1478.2186415985561, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 355.629200232667, + -1478.2186415985561, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 352.629200232667, + -1478.2186415985561, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 349.629200232667, + -1478.2186415985561, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 346.629200232667, + -1478.2186415985561, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 343.629200232667, + -1478.2186415985561, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 340.629200232667, + -1478.2186415985561, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 337.629200232667, + -1478.2186415985561, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 334.629200232667, + -1478.2186415985561, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 331.629200232667, + -1478.2186415985561, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 328.629200232667, + -1478.2186415985561, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 325.629200232667, + -1478.2186415985561, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 325.629200232667, + -1478.2186415985561, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 325.629200232667, + -1478.2186415985561, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 324.129200232667, + -1480.8167178099095, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 322.629200232667, + -1483.4147940212629, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 321.129200232667, + -1486.0128702326163, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 319.629200232667, + -1488.6109464439696, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 318.129200232667, + -1491.209022655323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 316.629200232667, + -1493.8070988666764, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 315.129200232667, + -1496.4051750780297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 313.629200232667, + -1499.0032512893831, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 312.129200232667, + -1501.6013275007365, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 310.629200232667, + -1504.1994037120899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 309.129200232667, + -1506.7974799234432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 307.629200232667, + -1509.3955561347966, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 306.129200232667, + -1511.99363234615, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 304.629200232667, + -1514.5917085575034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 303.129200232667, + -1517.1897847688567, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 301.629200232667, + -1519.78786098021, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 301.629200232667, + -1519.78786098021, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 299.0311240213137, + -1521.28786098021, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 296.4330478099604, + -1522.78786098021, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 293.83497159860707, + -1524.28786098021, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 291.23689538725375, + -1525.78786098021, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 288.63881917590044, + -1527.28786098021, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 286.0407429645471, + -1528.78786098021, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 283.4426667531938, + -1530.28786098021, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 280.8445905418405, + -1531.78786098021, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 278.2465143304872, + -1533.28786098021, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 275.64843811913386, + -1534.78786098021, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 273.05036190778054, + -1536.28786098021, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 270.4522856964272, + -1537.78786098021, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 267.8542094850739, + -1539.28786098021, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 265.2561332737206, + -1540.78786098021, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1560.0, + -206.55 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-18-50_480298490/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-18-50_480298490/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..298d2d403b5f2e1a8acc55c6142f4b209a0c4930 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-18-50_480298490/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 391.2068492854711, + -1404.4884911521494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 388.6087730741178, + -1402.9884911521494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 386.01069686276446, + -1401.4884911521494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 383.41262065141115, + -1399.9884911521494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 380.81454444005783, + -1398.4884911521494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 378.2164682287045, + -1396.9884911521494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 375.6183920173512, + -1395.4884911521494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 373.0203158059979, + -1393.9884911521494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 370.42223959464457, + -1392.4884911521494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 367.82416338329125, + -1390.9884911521494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 365.22608717193793, + -1389.4884911521494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 362.6280109605846, + -1387.9884911521494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 360.0299347492313, + -1386.4884911521494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 357.431858537878, + -1384.9884911521494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 354.83378232652467, + -1383.4884911521494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 352.23570611517135, + -1381.9884911521494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 349.63762990381804, + -1380.4884911521494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 347.0395536924647, + -1378.9884911521494, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 347.0395536924647, + -1378.9884911521494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 344.0395536924647, + -1378.9884911521494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 341.0395536924647, + -1378.9884911521494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 338.0395536924647, + -1378.9884911521494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 335.0395536924647, + -1378.9884911521494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 332.0395536924647, + -1378.9884911521494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 329.0395536924647, + -1378.9884911521494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 326.0395536924647, + -1378.9884911521494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 323.0395536924647, + -1378.9884911521494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 320.0395536924647, + -1378.9884911521494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 317.0395536924647, + -1378.9884911521494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 314.0395536924647, + -1378.9884911521494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 311.0395536924647, + -1378.9884911521494, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 311.0395536924647, + -1378.9884911521494, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 311.0395536924647, + -1378.9884911521494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 309.5395536924647, + -1376.390414940796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 308.0395536924647, + -1373.7923387294427, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 306.5395536924647, + -1371.1942625180893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 305.0395536924647, + -1368.596186306736, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 303.5395536924647, + -1365.9981100953826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 302.0395536924647, + -1363.4000338840292, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 300.5395536924647, + -1360.8019576726758, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 299.0395536924647, + -1358.2038814613225, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 297.5395536924647, + -1355.605805249969, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 296.0395536924647, + -1353.0077290386157, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 294.5395536924647, + -1350.4096528272623, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 293.0395536924647, + -1347.811576615909, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 291.5395536924647, + -1345.2135004045556, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 291.5395536924647, + -1345.2135004045556, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 288.9414774811114, + -1343.7135004045556, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 286.3434012697581, + -1342.2135004045556, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 283.7453250584048, + -1340.7135004045556, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 281.14724884705146, + -1339.2135004045556, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 278.54917263569814, + -1337.7135004045556, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 275.9510964243448, + -1336.2135004045556, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 273.3530202129915, + -1334.7135004045556, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 270.7549440016382, + -1333.2135004045556, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 268.1568677902849, + -1331.7135004045556, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-40-27_552473416/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-40-27_552473416/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f9f8106b4e2bacb15955a1888bbd88a37759f879 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-40-27_552473416/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -802.3529063590996, + -1961.2144215521514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -799.3529063590996, + -1961.2144215521514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -796.3529063590996, + -1961.2144215521514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -793.3529063590996, + -1961.2144215521514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -790.3529063590996, + -1961.2144215521514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -787.3529063590996, + -1961.2144215521514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -784.3529063590996, + -1961.2144215521514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -781.3529063590996, + -1961.2144215521514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -778.3529063590996, + -1961.2144215521514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -775.3529063590996, + -1961.2144215521514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -772.3529063590996, + -1961.2144215521514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -769.3529063590996, + -1961.2144215521514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -766.3529063590996, + -1961.2144215521514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -763.3529063590996, + -1961.2144215521514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -760.3529063590996, + -1961.2144215521514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -757.3529063590996, + -1961.2144215521514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -754.3529063590996, + -1961.2144215521514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -751.3529063590996, + -1961.2144215521514, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -751.3529063590996, + -1961.2144215521514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -748.7548301477464, + -1959.7144215521514, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -748.7548301477464, + -1959.7144215521514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -747.2548301477464, + -1957.116345340798, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -745.7548301477464, + -1954.5182691294447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -744.2548301477464, + -1951.9201929180913, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -742.7548301477464, + -1949.322116706738, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -741.2548301477464, + -1946.7240404953845, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -739.7548301477464, + -1944.1259642840312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -738.2548301477464, + -1941.5278880726778, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -736.7548301477464, + -1938.9298118613244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -735.2548301477464, + -1936.331735649971, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -733.7548301477464, + -1933.7336594386177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -732.2548301477464, + -1931.1355832272643, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -730.7548301477464, + -1928.537507015911, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -729.2548301477464, + -1925.9394308045576, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -727.7548301477464, + -1923.3413545932042, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -726.2548301477464, + -1920.7432783818508, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -726.2548301477464, + -1920.7432783818508, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -726.2548301477464, + -1920.7432783818508, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -723.2548301477464, + -1920.7432783818508, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -720.2548301477464, + -1920.7432783818508, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -717.2548301477464, + -1920.7432783818508, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -714.2548301477464, + -1920.7432783818508, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -711.2548301477464, + -1920.7432783818508, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -708.2548301477464, + -1920.7432783818508, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -705.2548301477464, + -1920.7432783818508, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -702.2548301477464, + -1920.7432783818508, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -699.2548301477464, + -1920.7432783818508, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -696.2548301477464, + -1920.7432783818508, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -693.2548301477464, + -1920.7432783818508, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -690.2548301477464, + -1920.7432783818508, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -687.2548301477464, + -1920.7432783818508, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -684.2548301477464, + -1920.7432783818508, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -681.2548301477464, + -1920.7432783818508, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-40-59_1143408282/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-40-59_1143408282/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..37409fbcb570ee1ef37eb43ae18f12f2ac14dbfc --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-40-59_1143408282/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -772.337207388529, + -2034.818116509045, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -770.837207388529, + -2032.2200402976916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -769.337207388529, + -2029.6219640863383, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -767.837207388529, + -2027.023887874985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -766.337207388529, + -2024.4258116636315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -764.837207388529, + -2021.8277354522781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -763.337207388529, + -2019.2296592409248, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -761.837207388529, + -2016.6315830295714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -760.337207388529, + -2014.033506818218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -758.837207388529, + -2011.4354306068647, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -757.337207388529, + -2008.8373543955113, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -755.837207388529, + -2006.239278184158, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -754.337207388529, + -2003.6412019728045, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -752.837207388529, + -2001.0431257614512, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -752.837207388529, + -2001.0431257614512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -750.2391311771758, + -1999.5431257614512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -747.6410549658224, + -1998.0431257614512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -745.042978754469, + -1996.5431257614512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -742.4449025431156, + -1995.0431257614512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -739.8468263317623, + -1993.5431257614512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -737.2487501204089, + -1992.0431257614512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -734.6506739090555, + -1990.5431257614512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -732.0525976977021, + -1989.0431257614512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -729.4545214863488, + -1987.5431257614512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -726.8564452749954, + -1986.0431257614512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -724.258369063642, + -1984.5431257614512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -721.6602928522886, + -1983.0431257614512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -719.0622166409353, + -1981.5431257614512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -716.4641404295819, + -1980.0431257614512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -713.8660642182285, + -1978.5431257614512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -711.2679880068752, + -1977.0431257614512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -708.6699117955218, + -1975.5431257614512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -706.0718355841684, + -1974.0431257614512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -703.473759372815, + -1972.5431257614512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -700.8756831614617, + -1971.0431257614512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -698.2776069501083, + -1969.5431257614512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -695.6795307387549, + -1968.0431257614512, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -695.6795307387549, + -1968.0431257614512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -694.1795307387549, + -1965.4450495500978, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -692.6795307387549, + -1962.8469733387444, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -691.1795307387549, + -1960.248897127391, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -689.6795307387549, + -1957.6508209160377, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -688.1795307387549, + -1955.0527447046843, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -686.6795307387549, + -1952.454668493331, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -685.1795307387549, + -1949.8565922819776, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -683.6795307387549, + -1947.2585160706242, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -682.1795307387549, + -1944.6604398592708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -680.6795307387549, + -1942.0623636479174, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-48-29_407487131/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-48-29_407487131/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..497364b6420fa0270c35822e9035203dd3db5371 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-48-29_407487131/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -706.8990429243158, + -1783.9360205239177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -706.8990429243158, + -1786.9360205239177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -706.8990429243158, + -1789.9360205239177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -706.8990429243158, + -1792.9360205239177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -706.8990429243158, + -1795.9360205239177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -706.8990429243158, + -1798.9360205239177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -706.8990429243158, + -1801.9360205239177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -706.8990429243158, + -1804.9360205239177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -706.8990429243158, + -1807.9360205239177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -706.8990429243158, + -1810.9360205239177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -706.8990429243158, + -1813.9360205239177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -706.8990429243158, + -1816.9360205239177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -706.8990429243158, + -1819.9360205239177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -706.8990429243158, + -1822.9360205239177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -706.8990429243158, + -1825.9360205239177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -706.8990429243158, + -1828.9360205239177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -706.8990429243158, + -1831.9360205239177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -706.8990429243158, + -1834.9360205239177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -706.8990429243158, + -1837.9360205239177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -706.8990429243158, + -1840.9360205239177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -706.8990429243158, + -1843.9360205239177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -706.8990429243158, + -1846.9360205239177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -706.8990429243158, + -1849.9360205239177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -706.8990429243158, + -1852.9360205239177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -706.8990429243158, + -1855.9360205239177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -706.8990429243158, + -1858.9360205239177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -706.8990429243158, + -1861.9360205239177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -706.8990429243158, + -1864.9360205239177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -706.8990429243158, + -1867.9360205239177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -706.8990429243158, + -1870.9360205239177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -706.8990429243158, + -1873.9360205239177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -706.8990429243158, + -1876.9360205239177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -706.8990429243158, + -1879.9360205239177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -706.8990429243158, + -1882.9360205239177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -706.8990429243158, + -1885.9360205239177, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -706.8990429243158, + -1885.9360205239177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -708.3990429243158, + -1888.534096735271, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -709.8990429243158, + -1891.1321729466245, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -711.3990429243158, + -1893.7302491579778, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -711.3990429243158, + -1893.7302491579778, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -711.3990429243158, + -1896.7302491579778, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -711.3990429243158, + -1899.7302491579778, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -711.3990429243158, + -1902.7302491579778, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -711.3990429243158, + -1905.7302491579778, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -711.3990429243158, + -1908.7302491579778, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -711.3990429243158, + -1911.7302491579778, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -711.3990429243158, + -1914.7302491579778, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -711.3990429243158, + -1917.7302491579778, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -711.3990429243158, + -1920.7302491579778, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -712.0, + -1940.0, + -205.963 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-57-0_1850952926/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-57-0_1850952926/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8360971a9fbe47280131d4243d01169fff9c2390 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-57-0_1850952926/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -815.20997636322, + -1965.252948208389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -812.20997636322, + -1965.252948208389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -809.20997636322, + -1965.252948208389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -806.20997636322, + -1965.252948208389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -803.20997636322, + -1965.252948208389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -800.20997636322, + -1965.252948208389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -797.20997636322, + -1965.252948208389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -794.20997636322, + -1965.252948208389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -791.20997636322, + -1965.252948208389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -788.20997636322, + -1965.252948208389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -785.20997636322, + -1965.252948208389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -782.20997636322, + -1965.252948208389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -779.20997636322, + -1965.252948208389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -776.20997636322, + -1965.252948208389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -773.20997636322, + -1965.252948208389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -770.20997636322, + -1965.252948208389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -767.20997636322, + -1965.252948208389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -764.20997636322, + -1965.252948208389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -761.20997636322, + -1965.252948208389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -758.20997636322, + -1965.252948208389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -755.20997636322, + -1965.252948208389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -752.20997636322, + -1965.252948208389, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -752.20997636322, + -1965.252948208389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -749.6119001518666, + -1963.752948208389, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -749.6119001518666, + -1963.752948208389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -748.1119001518666, + -1961.1548719970356, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -746.6119001518666, + -1958.5567957856822, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -745.1119001518666, + -1955.9587195743288, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -743.6119001518666, + -1953.3606433629755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -742.1119001518666, + -1950.762567151622, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -740.6119001518666, + -1948.1644909402687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -739.1119001518666, + -1945.5664147289153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -737.6119001518666, + -1942.968338517562, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -736.1119001518666, + -1940.3702623062086, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -734.6119001518666, + -1937.7721860948552, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -733.1119001518666, + -1935.1741098835018, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -731.6119001518666, + -1932.5760336721485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -730.1119001518666, + -1929.977957460795, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -728.6119001518666, + -1927.3798812494417, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -727.1119001518666, + -1924.7818050380884, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -725.6119001518666, + -1922.183728826735, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -725.6119001518666, + -1922.183728826735, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -725.6119001518666, + -1922.183728826735, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -722.6119001518666, + -1922.183728826735, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -719.6119001518666, + -1922.183728826735, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -716.6119001518666, + -1922.183728826735, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -713.6119001518666, + -1922.183728826735, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -710.6119001518666, + -1922.183728826735, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -707.6119001518666, + -1922.183728826735, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -704.6119001518666, + -1922.183728826735, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -701.6119001518666, + -1922.183728826735, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -698.6119001518666, + -1922.183728826735, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -695.6119001518666, + -1922.183728826735, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -692.6119001518666, + -1922.183728826735, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -689.6119001518666, + -1922.183728826735, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -686.6119001518666, + -1922.183728826735, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -683.6119001518666, + -1922.183728826735, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -680.6119001518666, + -1922.183728826735, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-59-3_638422090/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-59-3_638422090/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a9d68db51c5b4d6965804c07f413fdf111580fb6 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-59-3_638422090/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 34.832609889845465, + -1527.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 34.832609889845465, + -1530.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 34.832609889845465, + -1533.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 34.832609889845465, + -1536.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 34.832609889845465, + -1539.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 34.832609889845465, + -1542.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 34.832609889845465, + -1545.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 34.832609889845465, + -1548.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 34.832609889845465, + -1551.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 34.832609889845465, + -1554.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 34.832609889845465, + -1557.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 34.832609889845465, + -1560.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 34.832609889845465, + -1563.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 34.832609889845465, + -1566.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 34.832609889845465, + -1569.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 34.832609889845465, + -1572.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 34.832609889845465, + -1575.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 34.832609889845465, + -1578.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 34.832609889845465, + -1581.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 34.832609889845465, + -1584.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 34.832609889845465, + -1587.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 34.832609889845465, + -1590.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 34.832609889845465, + -1593.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 34.832609889845465, + -1596.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 34.832609889845465, + -1599.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 34.832609889845465, + -1602.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 34.832609889845465, + -1605.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 34.832609889845465, + -1608.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 34.832609889845465, + -1611.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 34.832609889845465, + -1614.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 34.832609889845465, + -1617.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 34.832609889845465, + -1620.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 34.832609889845465, + -1623.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 34.832609889845465, + -1626.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 34.832609889845465, + -1629.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 34.832609889845465, + -1632.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 34.832609889845465, + -1635.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 34.832609889845465, + -1638.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 34.832609889845465, + -1641.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 34.832609889845465, + -1644.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 34.832609889845465, + -1647.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 34.832609889845465, + -1650.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 34.832609889845465, + -1653.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 34.832609889845465, + -1656.601206345305, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 34.832609889845465, + -1656.601206345305, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 34.832609889845465, + -1656.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 37.43068610119878, + -1658.101206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 40.0287623125521, + -1659.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 42.62683852390541, + -1661.101206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 45.22491473525873, + -1662.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 47.822990946612045, + -1664.101206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 50.42106715796536, + -1665.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 53.01914336931868, + -1667.101206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 55.61721958067199, + -1668.601206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 58.21529579202531, + -1670.101206345305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 60.813372003378625, + -1671.601206345305, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -1696.0, + -213.853 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-6-5_1605894428/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-6-5_1605894428/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8fb0b4c950bebe42f6e389b758519dd4fca4e258 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-6-5_1605894428/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 384.5817334115885, + -1458.8105006724577, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 381.9836572002352, + -1460.3105006724577, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 379.3855809888819, + -1461.8105006724577, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 376.78750477752857, + -1463.3105006724577, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 374.18942856617525, + -1464.8105006724577, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 371.59135235482194, + -1466.3105006724577, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 368.9932761434686, + -1467.8105006724577, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 366.3951999321153, + -1469.3105006724577, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 363.797123720762, + -1470.8105006724577, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 361.1990475094087, + -1472.3105006724577, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 358.60097129805536, + -1473.8105006724577, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 356.00289508670204, + -1475.3105006724577, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 353.4048188753487, + -1476.8105006724577, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 350.8067426639954, + -1478.3105006724577, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 348.2086664526421, + -1479.8105006724577, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 348.2086664526421, + -1479.8105006724577, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 345.2086664526421, + -1479.8105006724577, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 342.2086664526421, + -1479.8105006724577, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 339.2086664526421, + -1479.8105006724577, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 336.2086664526421, + -1479.8105006724577, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 333.2086664526421, + -1479.8105006724577, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 330.2086664526421, + -1479.8105006724577, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 327.2086664526421, + -1479.8105006724577, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 327.2086664526421, + -1479.8105006724577, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 327.2086664526421, + -1479.8105006724577, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 325.7086664526421, + -1482.408576883811, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 324.2086664526421, + -1485.0066530951644, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 322.7086664526421, + -1487.6047293065178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 321.2086664526421, + -1490.2028055178712, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 319.7086664526421, + -1492.8008817292246, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 318.2086664526421, + -1495.398957940578, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 316.7086664526421, + -1497.9970341519313, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 315.2086664526421, + -1500.5951103632847, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 313.7086664526421, + -1503.193186574638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 312.2086664526421, + -1505.7912627859914, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 310.7086664526421, + -1508.3893389973448, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 309.2086664526421, + -1510.9874152086982, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 307.7086664526421, + -1513.5854914200515, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 306.2086664526421, + -1516.183567631405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 304.7086664526421, + -1518.7816438427583, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 304.7086664526421, + -1518.7816438427583, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 302.1105902412888, + -1520.2816438427583, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 299.51251402993546, + -1521.7816438427583, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 296.91443781858214, + -1523.2816438427583, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 294.3163616072288, + -1524.7816438427583, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 291.7182853958755, + -1526.2816438427583, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 289.1202091845222, + -1527.7816438427583, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 286.5221329731689, + -1529.2816438427583, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 283.92405676181556, + -1530.7816438427583, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 281.32598055046225, + -1532.2816438427583, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 278.72790433910893, + -1533.7816438427583, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 276.1298281277556, + -1535.2816438427583, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 273.5317519164023, + -1536.7816438427583, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 270.933675705049, + -1538.2816438427583, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 268.33559949369567, + -1539.7816438427583, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 265.73752328234235, + -1541.2816438427583, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1560.0, + -206.55 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-9-50_1939964443/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-9-50_1939964443/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..538f8c019c1eeb68012d8e1a7e9a8a9ebb9d079f --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-9-50_1939964443/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -809.0647993257551, + -1752.0523520760125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -807.5647993257551, + -1754.650428287366, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -806.0647993257551, + -1757.2485044987193, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -804.5647993257551, + -1759.8465807100727, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -803.0647993257551, + -1762.444656921426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -801.5647993257551, + -1765.0427331327794, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -800.0647993257551, + -1767.6408093441328, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -798.5647993257551, + -1770.2388855554861, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -797.0647993257551, + -1772.8369617668395, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -797.0647993257551, + -1772.8369617668395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -794.4667231144017, + -1774.3369617668395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -791.8686469030483, + -1775.8369617668395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -789.270570691695, + -1777.3369617668395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -786.6724944803416, + -1778.8369617668395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -784.0744182689882, + -1780.3369617668395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -781.4763420576348, + -1781.8369617668395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -778.8782658462815, + -1783.3369617668395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -776.2801896349281, + -1784.8369617668395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -773.6821134235747, + -1786.3369617668395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -771.0840372122213, + -1787.8369617668395, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -771.0840372122213, + -1787.8369617668395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -769.5840372122213, + -1790.435037978193, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -768.0840372122213, + -1793.0331141895463, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -766.5840372122213, + -1795.6311904008996, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -765.0840372122213, + -1798.229266612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -763.5840372122213, + -1800.8273428236064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -762.0840372122213, + -1803.4254190349598, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -760.5840372122213, + -1806.0234952463131, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -759.0840372122213, + -1808.6215714576665, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -757.5840372122213, + -1811.2196476690199, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -756.0840372122213, + -1813.8177238803733, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -754.5840372122213, + -1816.4158000917266, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -753.0840372122213, + -1819.01387630308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -751.5840372122213, + -1821.6119525144334, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -750.0840372122213, + -1824.2100287257867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -748.5840372122213, + -1826.8081049371401, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -747.0840372122213, + -1829.4061811484935, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -745.5840372122213, + -1832.0042573598469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -744.0840372122213, + -1834.6023335712002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -742.5840372122213, + -1837.2004097825536, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -741.0840372122213, + -1839.798485993907, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -739.5840372122213, + -1842.3965622052604, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -738.0840372122213, + -1844.9946384166137, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -736.5840372122213, + -1847.592714627967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -735.0840372122213, + -1850.1907908393205, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -733.5840372122213, + -1852.7888670506738, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -732.0840372122213, + -1855.3869432620272, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -730.5840372122213, + -1857.9850194733806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -729.0840372122213, + -1860.583095684734, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -727.5840372122213, + -1863.1811718960873, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -726.0840372122213, + -1865.7792481074407, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -724.5840372122213, + -1868.377324318794, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -723.0840372122213, + -1870.9754005301475, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -721.5840372122213, + -1873.5734767415008, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-1-10_1069755936/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-1-10_1069755936/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..21fe48d738fcb1d6959d7ba0bfe18f95c4240961 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-1-10_1069755936/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -665.5762741689423, + -2066.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -665.5762741689423, + -2063.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -665.5762741689423, + -2060.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -665.5762741689423, + -2057.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -665.5762741689423, + -2054.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -665.5762741689423, + -2051.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -665.5762741689423, + -2048.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -665.5762741689423, + -2045.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -665.5762741689423, + -2042.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -665.5762741689423, + -2039.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -665.5762741689423, + -2036.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -665.5762741689423, + -2033.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -665.5762741689423, + -2030.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -665.5762741689423, + -2027.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -665.5762741689423, + -2024.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -665.5762741689423, + -2021.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -665.5762741689423, + -2018.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -665.5762741689423, + -2015.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -665.5762741689423, + -2012.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -665.5762741689423, + -2009.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -665.5762741689423, + -2006.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -665.5762741689423, + -2003.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -665.5762741689423, + -2000.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -665.5762741689423, + -1997.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -665.5762741689423, + -1994.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -665.5762741689423, + -1991.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -665.5762741689423, + -1988.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -665.5762741689423, + -1985.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -665.5762741689423, + -1982.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -665.5762741689423, + -1979.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -665.5762741689423, + -1976.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -665.5762741689423, + -1973.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -665.5762741689423, + -1970.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -665.5762741689423, + -1967.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -665.5762741689423, + -1964.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -665.5762741689423, + -1961.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -665.5762741689423, + -1958.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -665.5762741689423, + -1955.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -665.5762741689423, + -1952.3432804077247, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -665.5762741689423, + -1952.3432804077247, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -665.5762741689423, + -1952.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -668.1743503802957, + -1950.8432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -670.772426591649, + -1949.3432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -673.3705028030024, + -1947.8432804077247, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -673.3705028030024, + -1947.8432804077247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -674.8705028030024, + -1945.2452041963713, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -676.3705028030024, + -1942.647127985018, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -677.8705028030024, + -1940.0490517736646, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -679.3705028030024, + -1937.4509755623112, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -680.8705028030024, + -1934.8528993509578, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -682.3705028030024, + -1932.2548231396045, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -683.8705028030024, + -1929.656746928251, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -685.3705028030024, + -1927.0586707168977, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -685.3705028030024, + -1927.0586707168977, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -687.9685790143558, + -1925.5586707168977, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -690.5666552257092, + -1924.0586707168977, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -693.1647314370625, + -1922.5586707168977, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -695.7628076484159, + -1921.0586707168977, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-13-12_697517721/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-13-12_697517721/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a939beb07bae0d2b1a49a4a30818b7a54b40b230 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-13-12_697517721/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -790.0013530060598, + -2033.289481008808, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -787.4032767947065, + -2031.789481008808, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -787.4032767947065, + -2031.789481008808, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -785.9032767947065, + -2029.1914047974547, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -784.4032767947065, + -2026.5933285861013, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -782.9032767947065, + -2023.995252374748, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -781.4032767947065, + -2021.3971761633945, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -779.9032767947065, + -2018.7990999520412, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -778.4032767947065, + -2016.2010237406878, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -776.9032767947065, + -2013.6029475293344, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -775.4032767947065, + -2011.004871317981, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -773.9032767947065, + -2008.4067951066277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -772.4032767947065, + -2005.8087188952743, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -772.4032767947065, + -2005.8087188952743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -769.8052005833531, + -2004.3087188952743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -767.2071243719997, + -2002.8087188952743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -764.6090481606464, + -2001.3087188952743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -762.010971949293, + -1999.8087188952743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -759.4128957379396, + -1998.3087188952743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -756.8148195265862, + -1996.8087188952743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -754.2167433152329, + -1995.3087188952743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -751.6186671038795, + -1993.8087188952743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -749.0205908925261, + -1992.3087188952743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -746.4225146811727, + -1990.8087188952743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -743.8244384698194, + -1989.3087188952743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -741.226362258466, + -1987.8087188952743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -738.6282860471126, + -1986.3087188952743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -736.0302098357593, + -1984.8087188952743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -733.4321336244059, + -1983.3087188952743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -730.8340574130525, + -1981.8087188952743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -728.2359812016991, + -1980.3087188952743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -725.6379049903458, + -1978.8087188952743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -723.0398287789924, + -1977.3087188952743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -720.441752567639, + -1975.8087188952743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -717.8436763562856, + -1974.3087188952743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -715.2456001449323, + -1972.8087188952743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -712.6475239335789, + -1971.3087188952743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -710.0494477222255, + -1969.8087188952743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -707.4513715108721, + -1968.3087188952743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -704.8532952995188, + -1966.8087188952743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -702.2552190881654, + -1965.3087188952743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -699.657142876812, + -1963.8087188952743, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -699.657142876812, + -1963.8087188952743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -696.657142876812, + -1963.8087188952743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -693.657142876812, + -1963.8087188952743, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -693.657142876812, + -1963.8087188952743, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -693.657142876812, + -1963.8087188952743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -692.157142876812, + -1961.210642683921, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -690.657142876812, + -1958.6125664725676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -689.157142876812, + -1956.0144902612142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -687.657142876812, + -1953.4164140498608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -686.157142876812, + -1950.8183378385074, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -684.657142876812, + -1948.220261627154, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -683.157142876812, + -1945.6221854158007, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -681.657142876812, + -1943.0241092044473, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -680.157142876812, + -1940.426032993094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -678.657142876812, + -1937.8279567817406, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-14-42_1335939811/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-14-42_1335939811/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bdf8c5432dbf55ee6cede445135c96d128669f42 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-14-42_1335939811/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -958.653696322509, + -2770.6859545596653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -958.653696322509, + -2773.6859545596653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -958.653696322509, + -2776.6859545596653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -958.653696322509, + -2779.6859545596653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -958.653696322509, + -2782.6859545596653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -958.653696322509, + -2785.6859545596653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -958.653696322509, + -2788.6859545596653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -958.653696322509, + -2791.6859545596653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -958.653696322509, + -2794.6859545596653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -958.653696322509, + -2797.6859545596653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -958.653696322509, + -2800.6859545596653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -958.653696322509, + -2803.6859545596653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -958.653696322509, + -2806.6859545596653, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -958.653696322509, + -2806.6859545596653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -957.153696322509, + -2809.2840307710185, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -955.653696322509, + -2811.8821069823716, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -954.153696322509, + -2814.4801831937248, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -952.653696322509, + -2817.078259405078, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -951.153696322509, + -2819.676335616431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -949.653696322509, + -2822.274411827784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -948.153696322509, + -2824.8724880391374, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -946.653696322509, + -2827.4705642504905, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -945.153696322509, + -2830.0686404618436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -943.653696322509, + -2832.666716673197, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -942.153696322509, + -2835.26479288455, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -940.653696322509, + -2837.862869095903, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -939.153696322509, + -2840.460945307256, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -937.653696322509, + -2843.0590215186094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -936.153696322509, + -2845.6570977299625, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -936.153696322509, + -2845.6570977299625, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -936.153696322509, + -2848.6570977299625, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -936.153696322509, + -2851.6570977299625, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -936.153696322509, + -2854.6570977299625, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -936.153696322509, + -2857.6570977299625, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -936.153696322509, + -2860.6570977299625, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -936.153696322509, + -2863.6570977299625, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -936.153696322509, + -2866.6570977299625, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -936.153696322509, + -2869.6570977299625, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -936.153696322509, + -2872.6570977299625, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -936.153696322509, + -2875.6570977299625, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -936.153696322509, + -2878.6570977299625, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -936.153696322509, + -2881.6570977299625, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -936.153696322509, + -2884.6570977299625, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -936.153696322509, + -2887.6570977299625, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -936.153696322509, + -2890.6570977299625, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -936.153696322509, + -2893.6570977299625, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -936.153696322509, + -2896.6570977299625, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -936.153696322509, + -2899.6570977299625, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -936.153696322509, + -2902.6570977299625, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -936.153696322509, + -2905.6570977299625, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -936.153696322509, + -2908.6570977299625, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -936.153696322509, + -2911.6570977299625, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -936.153696322509, + -2911.6570977299625, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -937.653696322509, + -2914.2551739413157, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -939.153696322509, + -2916.853250152669, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -940.653696322509, + -2919.451326364022, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + -2936.0, + -205.779 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-18-47_555996658/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-18-47_555996658/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f0cbf2b96a2d15c94d0105a55ded64e861300413 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-18-47_555996658/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 388.328237981624, + -1309.7444065761772, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 385.328237981624, + -1309.7444065761772, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 382.328237981624, + -1309.7444065761772, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 379.328237981624, + -1309.7444065761772, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 376.328237981624, + -1309.7444065761772, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 373.328237981624, + -1309.7444065761772, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 370.328237981624, + -1309.7444065761772, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 367.328237981624, + -1309.7444065761772, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 364.328237981624, + -1309.7444065761772, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 361.328237981624, + -1309.7444065761772, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 358.328237981624, + -1309.7444065761772, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 355.328237981624, + -1309.7444065761772, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 355.328237981624, + -1309.7444065761772, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 352.7301617702707, + -1308.2444065761772, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 352.7301617702707, + -1308.2444065761772, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 349.7301617702707, + -1308.2444065761772, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 346.7301617702707, + -1308.2444065761772, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 343.7301617702707, + -1308.2444065761772, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 340.7301617702707, + -1308.2444065761772, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 337.7301617702707, + -1308.2444065761772, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 334.7301617702707, + -1308.2444065761772, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 331.7301617702707, + -1308.2444065761772, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 328.7301617702707, + -1308.2444065761772, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 325.7301617702707, + -1308.2444065761772, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 322.7301617702707, + -1308.2444065761772, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 319.7301617702707, + -1308.2444065761772, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 316.7301617702707, + -1308.2444065761772, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 313.7301617702707, + -1308.2444065761772, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 310.7301617702707, + -1308.2444065761772, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 310.7301617702707, + -1308.2444065761772, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 310.7301617702707, + -1308.2444065761772, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 309.2301617702707, + -1310.8424827875306, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 307.7301617702707, + -1313.440558998884, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 306.2301617702707, + -1316.0386352102373, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 304.7301617702707, + -1318.6367114215907, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 303.2301617702707, + -1321.234787632944, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 301.7301617702707, + -1323.8328638442974, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 300.2301617702707, + -1326.4309400556508, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 298.7301617702707, + -1329.0290162670042, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 297.2301617702707, + -1331.6270924783576, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 295.7301617702707, + -1334.225168689711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 294.2301617702707, + -1336.8232449010643, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 292.7301617702707, + -1339.4213211124177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 291.2301617702707, + -1342.019397323771, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 289.7301617702707, + -1344.6174735351244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 288.2301617702707, + -1347.2155497464778, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 286.7301617702707, + -1349.8136259578312, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 286.7301617702707, + -1349.8136259578312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 284.13208555891737, + -1351.3136259578312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 281.53400934756405, + -1352.8136259578312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 278.93593313621074, + -1354.3136259578312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 276.3378569248574, + -1355.8136259578312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 273.7397807135041, + -1357.3136259578312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 271.1417045021508, + -1358.8136259578312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 268.54362829079747, + -1360.3136259578312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 265.94555207944416, + -1361.8136259578312, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-21-21_780821396/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-21-21_780821396/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fb59bb5f012154134cfef33eec932883b6635392 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-21-21_780821396/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 224.3923473324591, + -1483.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 224.3923473324591, + -1480.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 224.3923473324591, + -1477.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 224.3923473324591, + -1474.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 224.3923473324591, + -1471.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 224.3923473324591, + -1468.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 224.3923473324591, + -1465.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 224.3923473324591, + -1462.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 224.3923473324591, + -1459.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 224.3923473324591, + -1456.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 224.3923473324591, + -1453.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 224.3923473324591, + -1450.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 224.3923473324591, + -1447.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 224.3923473324591, + -1444.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 224.3923473324591, + -1441.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 224.3923473324591, + -1438.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 224.3923473324591, + -1435.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 224.3923473324591, + -1432.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 224.3923473324591, + -1429.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 224.3923473324591, + -1426.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 224.3923473324591, + -1423.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 224.3923473324591, + -1420.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 224.3923473324591, + -1417.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 224.3923473324591, + -1414.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 224.3923473324591, + -1411.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 224.3923473324591, + -1408.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 224.3923473324591, + -1405.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 224.3923473324591, + -1402.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 224.3923473324591, + -1399.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 224.3923473324591, + -1396.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 224.3923473324591, + -1393.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 224.3923473324591, + -1390.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 224.3923473324591, + -1387.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 224.3923473324591, + -1384.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 224.3923473324591, + -1381.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 224.3923473324591, + -1378.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 224.3923473324591, + -1375.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 224.3923473324591, + -1372.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 224.3923473324591, + -1369.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 224.3923473324591, + -1366.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 224.3923473324591, + -1363.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 224.3923473324591, + -1360.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 224.3923473324591, + -1357.6518769482818, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 224.3923473324591, + -1357.6518769482818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 225.8923473324591, + -1355.0538007369285, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 227.3923473324591, + -1352.455724525575, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 228.8923473324591, + -1349.8576483142217, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 230.3923473324591, + -1347.2595721028683, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 231.8923473324591, + -1344.661495891515, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 233.3923473324591, + -1342.0634196801616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 234.8923473324591, + -1339.4653434688082, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 236.3923473324591, + -1336.8672672574548, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-32-19_1566288819/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-32-19_1566288819/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..52cdabd97bc73e28e4a1fb87fcb3c5e240fc2924 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-32-19_1566288819/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 314.25237524901473, + -1451.8287247781172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 312.75237524901473, + -1449.2306485667639, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 311.25237524901473, + -1446.6325723554105, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 309.75237524901473, + -1444.0344961440571, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 308.25237524901473, + -1441.4364199327038, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 306.75237524901473, + -1438.8383437213504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 305.25237524901473, + -1436.240267509997, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 303.75237524901473, + -1433.6421912986436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 302.25237524901473, + -1431.0441150872903, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 300.75237524901473, + -1428.446038875937, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 299.25237524901473, + -1425.8479626645835, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 297.75237524901473, + -1423.2498864532301, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 296.25237524901473, + -1420.6518102418768, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 294.75237524901473, + -1418.0537340305234, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 293.25237524901473, + -1415.45565781917, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 291.75237524901473, + -1412.8575816078167, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 290.25237524901473, + -1410.2595053964633, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 288.75237524901473, + -1407.66142918511, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 287.25237524901473, + -1405.0633529737565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 285.75237524901473, + -1402.4652767624032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 284.25237524901473, + -1399.8672005510498, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 282.75237524901473, + -1397.2691243396964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 281.25237524901473, + -1394.671048128343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 279.75237524901473, + -1392.0729719169897, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 278.25237524901473, + -1389.4748957056363, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 276.75237524901473, + -1386.876819494283, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 275.25237524901473, + -1384.2787432829296, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 273.75237524901473, + -1381.6806670715762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 272.25237524901473, + -1379.0825908602228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 270.75237524901473, + -1376.4845146488694, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 269.25237524901473, + -1373.886438437516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 267.75237524901473, + -1371.2883622261627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 266.25237524901473, + -1368.6902860148093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 264.75237524901473, + -1366.092209803456, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 263.25237524901473, + -1363.4941335921026, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 263.25237524901473, + -1363.4941335921026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 263.25237524901473, + -1360.4941335921026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 263.25237524901473, + -1357.4941335921026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 263.25237524901473, + -1354.4941335921026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 263.25237524901473, + -1351.4941335921026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 263.25237524901473, + -1348.4941335921026, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 263.25237524901473, + -1348.4941335921026, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 263.25237524901473, + -1348.4941335921026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 260.6542990376614, + -1346.9941335921026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 258.0562228263081, + -1345.4941335921026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 255.45814661495479, + -1343.9941335921026, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 255.45814661495479, + -1343.9941335921026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 253.95814661495479, + -1341.3960573807492, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 252.45814661495479, + -1338.7979811693958, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-33-51_726371155/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-33-51_726371155/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..80ed5b3666f8a15fac368c3af321b56422bd6551 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-33-51_726371155/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 197.36221324973758, + -1481.360955708569, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 197.36221324973758, + -1478.360955708569, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 197.36221324973758, + -1475.360955708569, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 197.36221324973758, + -1472.360955708569, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 197.36221324973758, + -1469.360955708569, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 197.36221324973758, + -1466.360955708569, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 197.36221324973758, + -1463.360955708569, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 197.36221324973758, + -1460.360955708569, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 197.36221324973758, + -1457.360955708569, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 197.36221324973758, + -1454.360955708569, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 197.36221324973758, + -1451.360955708569, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 197.36221324973758, + -1448.360955708569, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 197.36221324973758, + -1445.360955708569, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 197.36221324973758, + -1442.360955708569, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 197.36221324973758, + -1439.360955708569, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 197.36221324973758, + -1436.360955708569, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 197.36221324973758, + -1433.360955708569, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 197.36221324973758, + -1430.360955708569, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 197.36221324973758, + -1427.360955708569, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 197.36221324973758, + -1424.360955708569, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 197.36221324973758, + -1421.360955708569, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 197.36221324973758, + -1418.360955708569, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 197.36221324973758, + -1415.360955708569, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 197.36221324973758, + -1412.360955708569, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 197.36221324973758, + -1409.360955708569, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 197.36221324973758, + -1406.360955708569, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 197.36221324973758, + -1403.360955708569, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 197.36221324973758, + -1400.360955708569, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 197.36221324973758, + -1400.360955708569, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 198.86221324973758, + -1397.7628794972156, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 200.36221324973758, + -1395.1648032858623, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 201.86221324973758, + -1392.566727074509, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 203.36221324973758, + -1389.9686508631555, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 204.86221324973758, + -1387.3705746518021, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 206.36221324973758, + -1384.7724984404488, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 207.86221324973758, + -1382.1744222290954, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 209.36221324973758, + -1379.576346017742, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 210.86221324973758, + -1376.9782698063887, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 212.36221324973758, + -1374.3801935950353, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 213.86221324973758, + -1371.782117383682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 215.36221324973758, + -1369.1840411723285, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 216.86221324973758, + -1366.5859649609752, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 218.36221324973758, + -1363.9878887496218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 219.86221324973758, + -1361.3898125382684, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 221.36221324973758, + -1358.791736326915, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 222.86221324973758, + -1356.1936601155617, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 224.36221324973758, + -1353.5955839042083, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 225.86221324973758, + -1350.997507692855, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 227.36221324973758, + -1348.3994314815016, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 228.86221324973758, + -1345.8013552701482, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 230.36221324973758, + -1343.2032790587948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 231.86221324973758, + -1340.6052028474414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 233.36221324973758, + -1338.007126636088, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +}