Datasets:

License:
Ideallll commited on
Commit
6372b9b
·
verified ·
1 Parent(s): 8491b1a

Add files using upload-large-folder tool

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-14-34_1328104339/pose.jsonl +326 -0
  2. Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-2-10_1329132133/pose.jsonl +235 -0
  3. Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-21-34_1780172261/pose.jsonl +313 -0
  4. Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-23-18_2002495425/pose.jsonl +326 -0
  5. Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-50-7_2004187516/pose.jsonl +287 -0
  6. Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-52-25_1605539862/pose.jsonl +352 -0
  7. Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-53-43_1338299904/pose.jsonl +274 -0
  8. Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-54-47_358984857/pose.jsonl +261 -0
  9. Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-0-50_76593093/pose.jsonl +352 -0
  10. Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-2-31_733327814/pose.jsonl +365 -0
  11. Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-24-14_1597141723/pose.jsonl +339 -0
  12. Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-28-16_1487053959/pose.jsonl +274 -0
  13. Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-31-36_1135771559/pose.jsonl +339 -0
  14. Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-33-48_661955081/pose.jsonl +365 -0
  15. Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-38-27_1503967857/pose.jsonl +339 -0
  16. Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-41-34_1785550551/pose.jsonl +287 -0
  17. Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-58-8_1238498976/pose.jsonl +365 -0
  18. Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-11-33_386839851/pose.jsonl +222 -0
  19. Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-27-57_929588156/pose.jsonl +274 -0
  20. Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-7-42_576994985/pose.jsonl +326 -0
  21. Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-26-7_1025202362/pose.jsonl +287 -0
  22. Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-36-15_135497281/pose.jsonl +248 -0
  23. Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-48-32_1194953865/pose.jsonl +339 -0
  24. Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-53-36_2040332871/pose.jsonl +300 -0
  25. Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-11-43_243268139/pose.jsonl +300 -0
  26. Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-15-2_1034949299/pose.jsonl +261 -0
  27. Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-16-29_1494613810/pose.jsonl +365 -0
  28. Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-29-36_387451659/pose.jsonl +261 -0
  29. Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-42-8_1682085273/pose.jsonl +313 -0
  30. Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-49-50_1129033333/pose.jsonl +287 -0
  31. Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-9-54_1359512183/pose.jsonl +378 -0
  32. Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-0-24_1974806403/pose.jsonl +261 -0
  33. Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-16-9_1857756970/pose.jsonl +365 -0
  34. Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-41-6_435889744/pose.jsonl +365 -0
  35. Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-42-3_2033505236/pose.jsonl +352 -0
  36. Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-13-49_595311776/pose.jsonl +313 -0
  37. Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-16-16_1289547084/pose.jsonl +235 -0
  38. Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-18-8_452825171/pose.jsonl +365 -0
  39. Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-28-24_1785550551/pose.jsonl +352 -0
  40. Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-3-7_537322532/pose.jsonl +287 -0
  41. Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-30-22_1623380595/pose.jsonl +313 -0
  42. Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-41-32_223712350/pose.jsonl +352 -0
  43. Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-44-25_1012836610/pose.jsonl +339 -0
  44. Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-49-7_96055805/pose.jsonl +235 -0
  45. Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-55-39_1402492972/pose.jsonl +144 -0
  46. Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-38-13_213952386/pose.jsonl +339 -0
  47. Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-4-47_472131489/pose.jsonl +66 -0
  48. Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-59-37_1487105994/pose.jsonl +339 -0
  49. Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-0-45_1090099484/pose.jsonl +287 -0
  50. Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-11-13_1153263590/pose.jsonl +339 -0
Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-14-34_1328104339/pose.jsonl ADDED
@@ -0,0 +1,326 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 169.7088908576084,
6
+ 141.18958699364697,
7
+ -9.474361253237097
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.6179938779914944
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 167.11081464625508,
19
+ 142.68958699364697,
20
+ -9.474361253237097
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.6179938779914944
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 164.51273843490176,
32
+ 144.18958699364697,
33
+ -9.474361253237097
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.6179938779914944
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 161.91466222354845,
45
+ 145.68958699364697,
46
+ -9.474361253237097
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.6179938779914944
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 159.31658601219513,
58
+ 147.18958699364697,
59
+ -9.474361253237097
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.6179938779914944
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 156.71850980084182,
71
+ 148.68958699364697,
72
+ -9.474361253237097
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.6179938779914944
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 154.1204335894885,
84
+ 150.18958699364697,
85
+ -9.474361253237097
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.6179938779914944
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 151.52235737813518,
97
+ 151.68958699364697,
98
+ -9.474361253237097
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.6179938779914944
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 148.92428116678187,
110
+ 153.18958699364697,
111
+ -9.474361253237097
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.6179938779914944
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 146.32620495542855,
123
+ 154.68958699364697,
124
+ -9.474361253237097
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.6179938779914944
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 143.72812874407524,
136
+ 156.18958699364697,
137
+ -9.474361253237097
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.6179938779914944
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 141.13005253272192,
149
+ 157.68958699364697,
150
+ -9.474361253237097
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 2.6179938779914944
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 138.5319763213686,
162
+ 159.18958699364697,
163
+ -9.474361253237097
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 2.6179938779914944
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 135.9339001100153,
175
+ 160.68958699364697,
176
+ -9.474361253237097
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 2.6179938779914944
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 133.33582389866197,
188
+ 162.18958699364697,
189
+ -9.474361253237097
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 2.6179938779914944
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 130.73774768730866,
201
+ 163.68958699364697,
202
+ -9.474361253237097
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 2.6179938779914944
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 128.13967147595534,
214
+ 165.18958699364697,
215
+ -9.474361253237097
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 2.6179938779914944
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 125.54159526460202,
227
+ 166.68958699364697,
228
+ -9.474361253237097
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 2.6179938779914944
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 122.9435190532487,
240
+ 168.18958699364697,
241
+ -9.474361253237097
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 2.6179938779914944
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 120.34544284189539,
253
+ 169.68958699364697,
254
+ -9.474361253237097
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 2.6179938779914944
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 117.74736663054207,
266
+ 171.18958699364697,
267
+ -9.474361253237097
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 2.6179938779914944
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 115.14929041918876,
279
+ 172.68958699364697,
280
+ -9.474361253237097
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 2.6179938779914944
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 112.55121420783544,
292
+ 174.18958699364697,
293
+ -9.474361253237097
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 2.6179938779914944
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 109.95313799648213,
305
+ 175.68958699364697,
306
+ -9.474361253237097
307
+ ],
308
+ "type": "stop",
309
+ "value": 0,
310
+ "yaw": 2.6179938779914944
311
+ }
312
+ }
313
+ {
314
+ "aim_landmark": {
315
+ "color": "test",
316
+ "feature": "test",
317
+ "position": [
318
+ 108.78504695892335,
319
+ 175.8657693862915,
320
+ 0.0
321
+ ],
322
+ "shape": "test",
323
+ "size": "test",
324
+ "type": "building"
325
+ }
326
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-2-10_1329132133/pose.jsonl ADDED
@@ -0,0 +1,235 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 930.4508889125493,
6
+ -237.65324655340953,
7
+ -1.1566168408220125
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.6179938779915037
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 927.852812701196,
19
+ -239.15324655340953,
20
+ -1.1566168408220125
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.6179938779915037
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 925.2547364898426,
32
+ -240.65324655340953,
33
+ -1.1566168408220125
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.6179938779915037
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 922.6566602784892,
45
+ -242.15324655340953,
46
+ -1.1566168408220125
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.6179938779915037
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 920.0585840671358,
58
+ -243.65324655340953,
59
+ -1.1566168408220125
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.6179938779915037
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 917.4605078557825,
71
+ -245.15324655340953,
72
+ -1.1566168408220125
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.6179938779915037
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 914.8624316444291,
84
+ -246.65324655340953,
85
+ -1.1566168408220125
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.6179938779915037
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 912.2643554330757,
97
+ -248.15324655340953,
98
+ -1.1566168408220125
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.6179938779915037
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 909.6662792217223,
110
+ -249.65324655340953,
111
+ -1.1566168408220125
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.6179938779915037
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 907.068203010369,
123
+ -251.15324655340953,
124
+ -1.1566168408220125
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.6179938779915037
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 904.4701267990156,
136
+ -252.65324655340953,
137
+ -1.1566168408220125
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.6179938779915037
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 901.8720505876622,
149
+ -254.15324655340953,
150
+ -1.1566168408220125
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.6179938779915037
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 899.2739743763088,
162
+ -255.65324655340953,
163
+ -1.1566168408220125
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.6179938779915037
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 896.6758981649555,
175
+ -257.15324655340953,
176
+ -1.1566168408220125
177
+ ],
178
+ "type": "turn left",
179
+ "value": 30,
180
+ "yaw": -2.6179938779915037
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 896.6758981649555,
188
+ -257.15324655340953,
189
+ -1.1566168408220125
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.094395102393205
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 895.1758981649555,
201
+ -259.75132276476285,
202
+ -1.1566168408220125
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.0943951023931953
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 893.6758981649555,
214
+ -262.34939897611616,
215
+ -1.1566168408220125
216
+ ],
217
+ "type": "stop",
218
+ "value": 0,
219
+ "yaw": -2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "aim_landmark": {
224
+ "color": "test",
225
+ "feature": "test",
226
+ "position": [
227
+ 871.2010513305664,
228
+ -278.09218101501466,
229
+ 0.0
230
+ ],
231
+ "shape": "test",
232
+ "size": "test",
233
+ "type": "building"
234
+ }
235
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-21-34_1780172261/pose.jsonl ADDED
@@ -0,0 +1,313 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -147.94755141521483,
6
+ -706.8511536066198,
7
+ -8.090467938479197
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 1.0471975511966072
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -146.44755141521483,
19
+ -704.2530773952665,
20
+ -8.090467938479197
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 1.0471975511966072
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -144.94755141521483,
32
+ -701.6550011839131,
33
+ -8.090467938479197
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 1.0471975511966072
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -143.44755141521483,
45
+ -699.0569249725597,
46
+ -8.090467938479197
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 1.0471975511966072
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -141.94755141521483,
58
+ -696.4588487612064,
59
+ -8.090467938479197
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 1.0471975511966072
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -140.44755141521483,
71
+ -693.860772549853,
72
+ -8.090467938479197
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 1.0471975511966072
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -138.94755141521483,
84
+ -691.2626963384996,
85
+ -8.090467938479197
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 1.0471975511966072
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -137.44755141521483,
97
+ -688.6646201271462,
98
+ -8.090467938479197
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 1.0471975511966072
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -135.94755141521483,
110
+ -686.0665439157929,
111
+ -8.090467938479197
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 1.0471975511966072
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -134.44755141521483,
123
+ -683.4684677044395,
124
+ -8.090467938479197
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 1.0471975511966072
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -132.94755141521483,
136
+ -680.8703914930861,
137
+ -8.090467938479197
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 1.0471975511966072
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -131.44755141521483,
149
+ -678.2723152817327,
150
+ -8.090467938479197
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 1.0471975511966072
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -129.94755141521483,
162
+ -675.6742390703794,
163
+ -8.090467938479197
164
+ ],
165
+ "type": "turn left",
166
+ "value": 30,
167
+ "yaw": 1.0471975511966072
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -129.94755141521483,
175
+ -675.6742390703794,
176
+ -8.090467938479197
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 1.5707963267949059
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -129.94755141521483,
188
+ -672.6742390703794,
189
+ -8.090467938479197
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -129.94755141521483,
201
+ -669.6742390703794,
202
+ -8.090467938479197
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -129.94755141521483,
214
+ -666.6742390703794,
215
+ -8.090467938479197
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -129.94755141521483,
227
+ -663.6742390703794,
228
+ -8.090467938479197
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -129.94755141521483,
240
+ -660.6742390703794,
241
+ -8.090467938479197
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -129.94755141521483,
253
+ -657.6742390703794,
254
+ -8.090467938479197
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -129.94755141521483,
266
+ -654.6742390703794,
267
+ -8.090467938479197
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -129.94755141521483,
279
+ -651.6742390703794,
280
+ -8.090467938479197
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 1.5707963267948966
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -129.94755141521483,
292
+ -648.6742390703794,
293
+ -8.090467938479197
294
+ ],
295
+ "type": "stop",
296
+ "value": 0,
297
+ "yaw": 1.5707963267948966
298
+ }
299
+ }
300
+ {
301
+ "aim_landmark": {
302
+ "color": "test",
303
+ "feature": "test",
304
+ "position": [
305
+ -129.48518104553224,
306
+ -646.8201499938965,
307
+ 0.0
308
+ ],
309
+ "shape": "test",
310
+ "size": "test",
311
+ "type": "building"
312
+ }
313
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-23-18_2002495425/pose.jsonl ADDED
@@ -0,0 +1,326 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1321.927483972711,
6
+ 214.87325121218888,
7
+ -0.16736191069146678
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.6179938779915037
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1319.3294077613575,
19
+ 213.37325121218888,
20
+ -0.16736191069146678
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.6179938779915037
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1316.7313315500041,
32
+ 211.87325121218888,
33
+ -0.16736191069146678
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.6179938779915037
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1314.1332553386508,
45
+ 210.37325121218888,
46
+ -0.16736191069146678
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.6179938779915037
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1311.5351791272974,
58
+ 208.87325121218888,
59
+ -0.16736191069146678
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.6179938779915037
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1308.937102915944,
71
+ 207.37325121218888,
72
+ -0.16736191069146678
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.6179938779915037
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1306.3390267045907,
84
+ 205.87325121218888,
85
+ -0.16736191069146678
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.6179938779915037
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1303.7409504932373,
97
+ 204.37325121218888,
98
+ -0.16736191069146678
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.6179938779915037
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1301.142874281884,
110
+ 202.87325121218888,
111
+ -0.16736191069146678
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.6179938779915037
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1298.5447980705305,
123
+ 201.37325121218888,
124
+ -0.16736191069146678
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.6179938779915037
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1295.9467218591772,
136
+ 199.87325121218888,
137
+ -0.16736191069146678
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.6179938779915037
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1293.3486456478238,
149
+ 198.37325121218888,
150
+ -0.16736191069146678
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.6179938779915037
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1290.7505694364704,
162
+ 196.87325121218888,
163
+ -0.16736191069146678
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.6179938779915037
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1288.152493225117,
175
+ 195.37325121218888,
176
+ -0.16736191069146678
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.6179938779915037
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1285.5544170137637,
188
+ 193.87325121218888,
189
+ -0.16736191069146678
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.6179938779915037
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1282.9563408024103,
201
+ 192.37325121218888,
202
+ -0.16736191069146678
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.6179938779915037
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1280.358264591057,
214
+ 190.87325121218888,
215
+ -0.16736191069146678
216
+ ],
217
+ "type": "turn left",
218
+ "value": 30,
219
+ "yaw": -2.6179938779915037
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1280.358264591057,
227
+ 190.87325121218888,
228
+ -0.16736191069146678
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -2.094395102393205
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1278.858264591057,
240
+ 188.27517500083556,
241
+ -0.16736191069146678
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 1277.358264591057,
253
+ 185.67709878948224,
254
+ -0.16736191069146678
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -2.0943951023931953
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 1275.858264591057,
266
+ 183.07902257812893,
267
+ -0.16736191069146678
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -2.0943951023931953
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 1274.358264591057,
279
+ 180.4809463667756,
280
+ -0.16736191069146678
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -2.0943951023931953
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 1272.858264591057,
292
+ 177.8828701554223,
293
+ -0.16736191069146678
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -2.0943951023931953
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 1271.358264591057,
305
+ 175.28479394406898,
306
+ -0.16736191069146678
307
+ ],
308
+ "type": "stop",
309
+ "value": 0,
310
+ "yaw": -2.0943951023931953
311
+ }
312
+ }
313
+ {
314
+ "aim_landmark": {
315
+ "color": "test",
316
+ "feature": "test",
317
+ "position": [
318
+ 1269.6296508789064,
319
+ 175.0053077697754,
320
+ 0.0
321
+ ],
322
+ "shape": "test",
323
+ "size": "test",
324
+ "type": "building"
325
+ }
326
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-50-7_2004187516/pose.jsonl ADDED
@@ -0,0 +1,287 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 137.63356589329874,
6
+ -693.3982811785168,
7
+ -0.802445964734245
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 3.141592653589793
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 134.63356589329874,
19
+ -693.3982811785168,
20
+ -0.802445964734245
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 3.141592653589793
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 131.63356589329874,
32
+ -693.3982811785168,
33
+ -0.802445964734245
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 3.141592653589793
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 128.63356589329874,
45
+ -693.3982811785168,
46
+ -0.802445964734245
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 3.141592653589793
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 125.63356589329874,
58
+ -693.3982811785168,
59
+ -0.802445964734245
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 3.141592653589793
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 122.63356589329874,
71
+ -693.3982811785168,
72
+ -0.802445964734245
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 3.141592653589793
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 119.63356589329874,
84
+ -693.3982811785168,
85
+ -0.802445964734245
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 3.141592653589793
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 116.63356589329874,
97
+ -693.3982811785168,
98
+ -0.802445964734245
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 3.141592653589793
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 113.63356589329874,
110
+ -693.3982811785168,
111
+ -0.802445964734245
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 3.141592653589793
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 110.63356589329874,
123
+ -693.3982811785168,
124
+ -0.802445964734245
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 3.141592653589793
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 107.63356589329874,
136
+ -693.3982811785168,
137
+ -0.802445964734245
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 3.141592653589793
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 104.63356589329874,
149
+ -693.3982811785168,
150
+ -0.802445964734245
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 3.141592653589793
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 101.63356589329874,
162
+ -693.3982811785168,
163
+ -0.802445964734245
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 3.141592653589793
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 98.63356589329874,
175
+ -693.3982811785168,
176
+ -0.802445964734245
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 3.141592653589793
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 95.63356589329874,
188
+ -693.3982811785168,
189
+ -0.802445964734245
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 3.141592653589793
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 92.63356589329874,
201
+ -693.3982811785168,
202
+ -0.802445964734245
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 3.141592653589793
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 89.63356589329874,
214
+ -693.3982811785168,
215
+ -0.802445964734245
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 3.141592653589793
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 86.63356589329874,
227
+ -693.3982811785168,
228
+ -0.802445964734245
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 3.141592653589793
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 83.63356589329874,
240
+ -693.3982811785168,
241
+ -0.802445964734245
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 3.141592653589793
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 80.63356589329874,
253
+ -693.3982811785168,
254
+ -0.802445964734245
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 3.141592653589793
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 77.63356589329874,
266
+ -693.3982811785168,
267
+ -0.802445964734245
268
+ ],
269
+ "type": "stop",
270
+ "value": 0,
271
+ "yaw": 3.141592653589793
272
+ }
273
+ }
274
+ {
275
+ "aim_landmark": {
276
+ "color": "test",
277
+ "feature": "test",
278
+ "position": [
279
+ 75.18217315673829,
280
+ -694.5978416442872,
281
+ 0.0
282
+ ],
283
+ "shape": "test",
284
+ "size": "test",
285
+ "type": "building"
286
+ }
287
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-52-25_1605539862/pose.jsonl ADDED
@@ -0,0 +1,352 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 30.808614224381564,
6
+ -321.9930870770092,
7
+ -0.36751842852515537
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.6179938779914944
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 28.21053801302825,
19
+ -323.4930870770092,
20
+ -0.36751842852515537
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.6179938779914944
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 25.612461801674932,
32
+ -324.9930870770092,
33
+ -0.36751842852515537
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.6179938779914944
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 23.014385590321616,
45
+ -326.4930870770092,
46
+ -0.36751842852515537
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.6179938779914944
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 20.4163093789683,
58
+ -327.9930870770092,
59
+ -0.36751842852515537
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.6179938779914944
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 17.818233167614984,
71
+ -329.4930870770092,
72
+ -0.36751842852515537
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.6179938779914944
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 15.220156956261668,
84
+ -330.9930870770092,
85
+ -0.36751842852515537
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.6179938779914944
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 12.622080744908352,
97
+ -332.4930870770092,
98
+ -0.36751842852515537
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.6179938779914944
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 10.024004533555036,
110
+ -333.9930870770092,
111
+ -0.36751842852515537
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.6179938779914944
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 7.42592832220172,
123
+ -335.4930870770092,
124
+ -0.36751842852515537
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.6179938779914944
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 4.827852110848404,
136
+ -336.9930870770092,
137
+ -0.36751842852515537
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.6179938779914944
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 2.2297758994950883,
149
+ -338.4930870770092,
150
+ -0.36751842852515537
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.6179938779914944
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -0.36830031185822776,
162
+ -339.9930870770092,
163
+ -0.36751842852515537
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.6179938779914944
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -2.9663765232115438,
175
+ -341.4930870770092,
176
+ -0.36751842852515537
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.6179938779914944
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -5.56445273456486,
188
+ -342.9930870770092,
189
+ -0.36751842852515537
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.6179938779914944
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -8.162528945918176,
201
+ -344.4930870770092,
202
+ -0.36751842852515537
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.6179938779914944
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -10.760605157271492,
214
+ -345.9930870770092,
215
+ -0.36751842852515537
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -2.6179938779914944
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -13.358681368624808,
227
+ -347.4930870770092,
228
+ -0.36751842852515537
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -2.6179938779914944
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -15.956757579978124,
240
+ -348.9930870770092,
241
+ -0.36751842852515537
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -2.6179938779914944
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -18.55483379133144,
253
+ -350.4930870770092,
254
+ -0.36751842852515537
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -2.6179938779914944
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -21.152910002684756,
266
+ -351.9930870770092,
267
+ -0.36751842852515537
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -2.6179938779914944
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -23.750986214038072,
279
+ -353.4930870770092,
280
+ -0.36751842852515537
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -2.6179938779914944
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -26.349062425391388,
292
+ -354.9930870770092,
293
+ -0.36751842852515537
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -2.6179938779914944
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -28.947138636744704,
305
+ -356.4930870770092,
306
+ -0.36751842852515537
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -2.6179938779914944
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -31.54521484809802,
318
+ -357.9930870770092,
319
+ -0.36751842852515537
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -2.6179938779914944
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -34.143291059451336,
331
+ -359.4930870770092,
332
+ -0.36751842852515537
333
+ ],
334
+ "type": "stop",
335
+ "value": 0,
336
+ "yaw": -2.6179938779914944
337
+ }
338
+ }
339
+ {
340
+ "aim_landmark": {
341
+ "color": "test",
342
+ "feature": "test",
343
+ "position": [
344
+ -37.04707775115967,
345
+ -360.1783214569092,
346
+ 0.0
347
+ ],
348
+ "shape": "test",
349
+ "size": "test",
350
+ "type": "building"
351
+ }
352
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-53-43_1338299904/pose.jsonl ADDED
@@ -0,0 +1,274 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 516.0859654875945,
6
+ -445.06538205421265,
7
+ -8.025037616633531
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 514.5859654875945,
19
+ -442.46730584285933,
20
+ -8.025037616633531
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 513.0859654875945,
32
+ -439.869229631506,
33
+ -8.025037616633531
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 511.58596548759454,
45
+ -437.2711534201527,
46
+ -8.025037616633531
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.0943951023931953
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 510.08596548759454,
58
+ -434.6730772087994,
59
+ -8.025037616633531
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.0943951023931953
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 508.58596548759454,
71
+ -432.07500099744607,
72
+ -8.025037616633531
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.0943951023931953
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 507.08596548759454,
84
+ -429.47692478609275,
85
+ -8.025037616633531
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.0943951023931953
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 505.58596548759454,
97
+ -426.87884857473944,
98
+ -8.025037616633531
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.0943951023931953
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 504.08596548759454,
110
+ -424.2807723633861,
111
+ -8.025037616633531
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.0943951023931953
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 502.58596548759454,
123
+ -421.6826961520328,
124
+ -8.025037616633531
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.0943951023931953
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 501.08596548759454,
136
+ -419.0846199406795,
137
+ -8.025037616633531
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.0943951023931953
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 499.58596548759454,
149
+ -416.4865437293262,
150
+ -8.025037616633531
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 2.0943951023931953
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 498.08596548759454,
162
+ -413.88846751797286,
163
+ -8.025037616633531
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 2.0943951023931953
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 496.58596548759454,
175
+ -411.29039130661954,
176
+ -8.025037616633531
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 2.0943951023931953
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 495.08596548759454,
188
+ -408.6923150952662,
189
+ -8.025037616633531
190
+ ],
191
+ "type": "turn right",
192
+ "value": 30,
193
+ "yaw": 2.0943951023931953
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 495.08596548759454,
201
+ -408.6923150952662,
202
+ -8.025037616633531
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 495.08596548759454,
214
+ -405.6923150952662,
215
+ -8.025037616633531
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 495.08596548759454,
227
+ -402.6923150952662,
228
+ -8.025037616633531
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 495.08596548759454,
240
+ -399.6923150952662,
241
+ -8.025037616633531
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 495.08596548759454,
253
+ -396.6923150952662,
254
+ -8.025037616633531
255
+ ],
256
+ "type": "stop",
257
+ "value": 0,
258
+ "yaw": 1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "aim_landmark": {
263
+ "color": "test",
264
+ "feature": "test",
265
+ "position": [
266
+ 495.27006835937505,
267
+ -393.85822601318364,
268
+ 0.0
269
+ ],
270
+ "shape": "test",
271
+ "size": "test",
272
+ "type": "building"
273
+ }
274
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-54-47_358984857/pose.jsonl ADDED
@@ -0,0 +1,261 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 157.2849758140497,
6
+ 191.568149598529,
7
+ -8.278760746133353
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.6179938779914944
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 154.68689960269637,
19
+ 190.068149598529,
20
+ -8.278760746133353
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.6179938779914944
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 152.08882339134306,
32
+ 188.568149598529,
33
+ -8.278760746133353
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.6179938779914944
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 149.49074717998974,
45
+ 187.068149598529,
46
+ -8.278760746133353
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.6179938779914944
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 146.89267096863642,
58
+ 185.568149598529,
59
+ -8.278760746133353
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.6179938779914944
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 144.2945947572831,
71
+ 184.068149598529,
72
+ -8.278760746133353
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.6179938779914944
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 141.6965185459298,
84
+ 182.568149598529,
85
+ -8.278760746133353
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.6179938779914944
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 139.09844233457648,
97
+ 181.068149598529,
98
+ -8.278760746133353
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.6179938779914944
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 136.50036612322316,
110
+ 179.568149598529,
111
+ -8.278760746133353
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.6179938779914944
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 133.90228991186984,
123
+ 178.068149598529,
124
+ -8.278760746133353
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.6179938779914944
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 131.30421370051653,
136
+ 176.568149598529,
137
+ -8.278760746133353
138
+ ],
139
+ "type": "turn right",
140
+ "value": 30,
141
+ "yaw": -2.6179938779914944
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 131.30421370051653,
149
+ 176.568149598529,
150
+ -8.278760746133353
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -3.141592653589793
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 128.30421370051653,
162
+ 176.568149598529,
163
+ -8.278760746133353
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 3.141592653589793
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 125.30421370051653,
175
+ 176.568149598529,
176
+ -8.278760746133353
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 3.141592653589793
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 122.30421370051653,
188
+ 176.568149598529,
189
+ -8.278760746133353
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 3.141592653589793
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 119.30421370051653,
201
+ 176.568149598529,
202
+ -8.278760746133353
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 3.141592653589793
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 116.30421370051653,
214
+ 176.568149598529,
215
+ -8.278760746133353
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 3.141592653589793
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 113.30421370051653,
227
+ 176.568149598529,
228
+ -8.278760746133353
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 3.141592653589793
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 110.30421370051653,
240
+ 176.568149598529,
241
+ -8.278760746133353
242
+ ],
243
+ "type": "stop",
244
+ "value": 0,
245
+ "yaw": 3.141592653589793
246
+ }
247
+ }
248
+ {
249
+ "aim_landmark": {
250
+ "color": "test",
251
+ "feature": "test",
252
+ "position": [
253
+ 108.78504695892335,
254
+ 175.8657693862915,
255
+ 0.0
256
+ ],
257
+ "shape": "test",
258
+ "size": "test",
259
+ "type": "building"
260
+ }
261
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-0-50_76593093/pose.jsonl ADDED
@@ -0,0 +1,352 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -0.7272725725042619,
6
+ -521.9405509506838,
7
+ -9.980807823001355
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.047197551196588
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 0.7727274274957385,
19
+ -524.5386271620371,
20
+ -9.980807823001355
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.047197551196588
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 2.272727427495739,
32
+ -527.1367033733904,
33
+ -9.980807823001355
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.0471975511966072
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 3.7727274274957394,
45
+ -529.7347795847438,
46
+ -9.980807823001355
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.0471975511966072
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 5.27272742749574,
58
+ -532.3328557960972,
59
+ -9.980807823001355
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.0471975511966072
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 6.77272742749574,
71
+ -534.9309320074506,
72
+ -9.980807823001355
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.0471975511966072
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 8.27272742749574,
84
+ -537.5290082188039,
85
+ -9.980807823001355
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.0471975511966072
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 9.77272742749574,
97
+ -540.1270844301573,
98
+ -9.980807823001355
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.0471975511966072
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 11.27272742749574,
110
+ -542.7251606415107,
111
+ -9.980807823001355
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.0471975511966072
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 12.77272742749574,
123
+ -545.323236852864,
124
+ -9.980807823001355
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.0471975511966072
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 14.27272742749574,
136
+ -547.9213130642174,
137
+ -9.980807823001355
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.0471975511966072
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 15.77272742749574,
149
+ -550.5193892755708,
150
+ -9.980807823001355
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.0471975511966072
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 17.27272742749574,
162
+ -553.1174654869242,
163
+ -9.980807823001355
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.0471975511966067
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 18.77272742749574,
175
+ -555.7155416982775,
176
+ -9.980807823001355
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.0471975511966072
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 20.27272742749574,
188
+ -558.3136179096309,
189
+ -9.980807823001355
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.0471975511966072
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 21.77272742749574,
201
+ -560.9116941209843,
202
+ -9.980807823001355
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.0471975511966072
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 23.27272742749574,
214
+ -563.5097703323377,
215
+ -9.980807823001355
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.0471975511966072
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 24.77272742749574,
227
+ -566.107846543691,
228
+ -9.980807823001355
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.0471975511966072
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 26.27272742749574,
240
+ -568.7059227550444,
241
+ -9.980807823001355
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.0471975511966072
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 27.77272742749574,
253
+ -571.3039989663978,
254
+ -9.980807823001355
255
+ ],
256
+ "type": "turn right",
257
+ "value": 30,
258
+ "yaw": -1.0471975511966072
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 27.77272742749574,
266
+ -571.3039989663978,
267
+ -9.980807823001355
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -1.5707963267949059
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 27.77272742749574,
279
+ -574.3039989663978,
280
+ -9.980807823001355
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -1.5707963267948966
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 27.77272742749574,
292
+ -577.3039989663978,
293
+ -9.980807823001355
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -1.5707963267948966
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 27.77272742749574,
305
+ -580.3039989663978,
306
+ -9.980807823001355
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -1.5707963267948966
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 27.77272742749574,
318
+ -583.3039989663978,
319
+ -9.980807823001355
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -1.5707963267948966
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 27.77272742749574,
331
+ -586.3039989663978,
332
+ -9.980807823001355
333
+ ],
334
+ "type": "stop",
335
+ "value": 0,
336
+ "yaw": -1.5707963267948966
337
+ }
338
+ }
339
+ {
340
+ "aim_landmark": {
341
+ "color": "test",
342
+ "feature": "test",
343
+ "position": [
344
+ 29.783947944641117,
345
+ -587.6620632171631,
346
+ 0.0
347
+ ],
348
+ "shape": "test",
349
+ "size": "test",
350
+ "type": "building"
351
+ }
352
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-2-31_733327814/pose.jsonl ADDED
@@ -0,0 +1,365 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -55.34120193181862,
6
+ -54.136601495296944,
7
+ -8.322922637573809
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -52.34120193181862,
19
+ -54.136601495296944,
20
+ -8.322922637573809
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -49.34120193181862,
32
+ -54.136601495296944,
33
+ -8.322922637573809
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -46.34120193181862,
45
+ -54.136601495296944,
46
+ -8.322922637573809
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -43.34120193181862,
58
+ -54.136601495296944,
59
+ -8.322922637573809
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.0
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -40.34120193181862,
71
+ -54.136601495296944,
72
+ -8.322922637573809
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.0
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -37.34120193181862,
84
+ -54.136601495296944,
85
+ -8.322922637573809
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.0
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -34.34120193181862,
97
+ -54.136601495296944,
98
+ -8.322922637573809
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.0
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -31.341201931818617,
110
+ -54.136601495296944,
111
+ -8.322922637573809
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 0.0
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -28.341201931818617,
123
+ -54.136601495296944,
124
+ -8.322922637573809
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.0
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -25.341201931818617,
136
+ -54.136601495296944,
137
+ -8.322922637573809
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 0.0
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -22.341201931818617,
149
+ -54.136601495296944,
150
+ -8.322922637573809
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 0.0
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -19.341201931818617,
162
+ -54.136601495296944,
163
+ -8.322922637573809
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 0.0
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -16.341201931818617,
175
+ -54.136601495296944,
176
+ -8.322922637573809
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 0.0
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -13.341201931818617,
188
+ -54.136601495296944,
189
+ -8.322922637573809
190
+ ],
191
+ "type": "turn right",
192
+ "value": 30,
193
+ "yaw": 0.0
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -13.341201931818617,
201
+ -54.136601495296944,
202
+ -8.322922637573809
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -0.5235987755982988
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -10.7431257204653,
214
+ -55.636601495296944,
215
+ -8.322922637573809
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -0.5235987755982988
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -8.145049509111985,
227
+ -57.136601495296944,
228
+ -8.322922637573809
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -0.5235987755982988
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -5.546973297758669,
240
+ -58.636601495296944,
241
+ -8.322922637573809
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -0.5235987755982988
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -2.9488970864053528,
253
+ -60.136601495296944,
254
+ -8.322922637573809
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -0.5235987755982988
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -0.35082087505203674,
266
+ -61.636601495296944,
267
+ -8.322922637573809
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -0.5235987755982988
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 2.2472553363012793,
279
+ -63.136601495296944,
280
+ -8.322922637573809
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -0.5235987755982988
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 4.845331547654595,
292
+ -64.63660149529694,
293
+ -8.322922637573809
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -0.5235987755982988
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 7.443407759007911,
305
+ -66.13660149529694,
306
+ -8.322922637573809
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -0.5235987755982988
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 10.041483970361227,
318
+ -67.63660149529694,
319
+ -8.322922637573809
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -0.5235987755982988
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 12.639560181714543,
331
+ -69.13660149529694,
332
+ -8.322922637573809
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": -0.5235987755982988
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ 15.23763639306786,
344
+ -70.63660149529694,
345
+ -8.322922637573809
346
+ ],
347
+ "type": "stop",
348
+ "value": 0,
349
+ "yaw": -0.5235987755982988
350
+ }
351
+ }
352
+ {
353
+ "aim_landmark": {
354
+ "color": "test",
355
+ "feature": "test",
356
+ "position": [
357
+ 17.12450046539307,
358
+ -73.06071357727052,
359
+ 0.0
360
+ ],
361
+ "shape": "test",
362
+ "size": "test",
363
+ "type": "building"
364
+ }
365
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-24-14_1597141723/pose.jsonl ADDED
@@ -0,0 +1,339 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -88.97589733259106,
6
+ -785.7675571672532,
7
+ -6.401942279983999
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.094395102393186
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -90.47589733259106,
19
+ -783.1694809558999,
20
+ -6.401942279983999
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.094395102393186
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -91.97589733259106,
32
+ -780.5714047445465,
33
+ -6.401942279983999
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.094395102393186
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -93.47589733259106,
45
+ -777.9733285331931,
46
+ -6.401942279983999
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.094395102393186
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -94.97589733259106,
58
+ -775.3752523218398,
59
+ -6.401942279983999
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.094395102393186
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -96.47589733259106,
71
+ -772.7771761104864,
72
+ -6.401942279983999
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.094395102393186
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -97.97589733259106,
84
+ -770.179099899133,
85
+ -6.401942279983999
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.094395102393186
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -99.47589733259106,
97
+ -767.5810236877796,
98
+ -6.401942279983999
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.094395102393186
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -100.97589733259106,
110
+ -764.9829474764263,
111
+ -6.401942279983999
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.094395102393186
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -102.47589733259106,
123
+ -762.3848712650729,
124
+ -6.401942279983999
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.094395102393186
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -103.97589733259106,
136
+ -759.7867950537195,
137
+ -6.401942279983999
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.094395102393186
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -105.47589733259106,
149
+ -757.1887188423661,
150
+ -6.401942279983999
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 2.094395102393186
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -106.97589733259106,
162
+ -754.5906426310128,
163
+ -6.401942279983999
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 2.094395102393186
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -108.47589733259106,
175
+ -751.9925664196594,
176
+ -6.401942279983999
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 2.094395102393186
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -109.97589733259106,
188
+ -749.394490208306,
189
+ -6.401942279983999
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 2.094395102393186
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -111.47589733259106,
201
+ -746.7964139969527,
202
+ -6.401942279983999
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 2.094395102393186
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -112.97589733259106,
214
+ -744.1983377855993,
215
+ -6.401942279983999
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 2.094395102393186
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -114.47589733259106,
227
+ -741.6002615742459,
228
+ -6.401942279983999
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 2.094395102393186
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -115.97589733259106,
240
+ -739.0021853628925,
241
+ -6.401942279983999
242
+ ],
243
+ "type": "turn left",
244
+ "value": 30,
245
+ "yaw": 2.094395102393186
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -115.97589733259106,
253
+ -739.0021853628925,
254
+ -6.401942279983999
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 2.6179938779914846
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -118.57397354394438,
266
+ -737.5021853628925,
267
+ -6.401942279983999
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 2.6179938779914944
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -121.17204975529769,
279
+ -736.0021853628925,
280
+ -6.401942279983999
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 2.6179938779914944
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -123.77012596665101,
292
+ -734.5021853628925,
293
+ -6.401942279983999
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 2.6179938779914944
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -126.36820217800432,
305
+ -733.0021853628925,
306
+ -6.401942279983999
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 2.6179938779914944
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -128.96627838935763,
318
+ -731.5021853628925,
319
+ -6.401942279983999
320
+ ],
321
+ "type": "stop",
322
+ "value": 0,
323
+ "yaw": 2.6179938779914944
324
+ }
325
+ }
326
+ {
327
+ "aim_landmark": {
328
+ "color": "test",
329
+ "feature": "test",
330
+ "position": [
331
+ -130.4267204284668,
332
+ -730.7557357788087,
333
+ 0.0
334
+ ],
335
+ "shape": "test",
336
+ "size": "test",
337
+ "type": "building"
338
+ }
339
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-28-16_1487053959/pose.jsonl ADDED
@@ -0,0 +1,274 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1290.192762203268,
6
+ 248.41679798298162,
7
+ -0.11906365208816005
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1291.692762203268,
19
+ 245.8187217716283,
20
+ -0.11906365208816005
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1293.192762203268,
32
+ 243.220645560275,
33
+ -0.11906365208816005
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1294.692762203268,
45
+ 240.62256934892167,
46
+ -0.11906365208816005
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1296.192762203268,
58
+ 238.02449313756836,
59
+ -0.11906365208816005
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1297.692762203268,
71
+ 235.42641692621504,
72
+ -0.11906365208816005
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1299.192762203268,
84
+ 232.82834071486172,
85
+ -0.11906365208816005
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1300.692762203268,
97
+ 230.2302645035084,
98
+ -0.11906365208816005
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1302.192762203268,
110
+ 227.6321882921551,
111
+ -0.11906365208816005
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1303.692762203268,
123
+ 225.03411208080178,
124
+ -0.11906365208816005
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1305.192762203268,
136
+ 222.43603586944846,
137
+ -0.11906365208816005
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1306.692762203268,
149
+ 219.83795965809514,
150
+ -0.11906365208816005
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1308.192762203268,
162
+ 217.23988344674183,
163
+ -0.11906365208816005
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.0471975511965979
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1309.692762203268,
175
+ 214.6418072353885,
176
+ -0.11906365208816005
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.0471975511965979
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1311.192762203268,
188
+ 212.0437310240352,
189
+ -0.11906365208816005
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.0471975511965979
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1312.692762203268,
201
+ 209.44565481268188,
202
+ -0.11906365208816005
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.0471975511965979
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1314.192762203268,
214
+ 206.84757860132856,
215
+ -0.11906365208816005
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.0471975511965979
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1315.692762203268,
227
+ 204.24950238997525,
228
+ -0.11906365208816005
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.0471975511965979
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1317.192762203268,
240
+ 201.65142617862193,
241
+ -0.11906365208816005
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.0471975511965979
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 1318.692762203268,
253
+ 199.05334996726862,
254
+ -0.11906365208816005
255
+ ],
256
+ "type": "stop",
257
+ "value": 0,
258
+ "yaw": -1.0471975511965979
259
+ }
260
+ }
261
+ {
262
+ "aim_landmark": {
263
+ "color": "test",
264
+ "feature": "test",
265
+ "position": [
266
+ 1318.4154022216799,
267
+ 197.2680404663086,
268
+ 0.0
269
+ ],
270
+ "shape": "test",
271
+ "size": "test",
272
+ "type": "building"
273
+ }
274
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-31-36_1135771559/pose.jsonl ADDED
@@ -0,0 +1,339 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1477.0733291395306,
6
+ -247.05789562138597,
7
+ -9.447806916695725
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1475.5733291395306,
19
+ -244.45981941003265,
20
+ -9.447806916695725
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1474.0733291395306,
32
+ -241.86174319867933,
33
+ -9.447806916695725
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1472.5733291395306,
45
+ -239.26366698732602,
46
+ -9.447806916695725
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.0943951023931953
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1471.0733291395306,
58
+ -236.6655907759727,
59
+ -9.447806916695725
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.0943951023931953
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1469.5733291395306,
71
+ -234.0675145646194,
72
+ -9.447806916695725
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.0943951023931953
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1468.0733291395306,
84
+ -231.46943835326607,
85
+ -9.447806916695725
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.0943951023931953
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1466.5733291395306,
97
+ -228.87136214191275,
98
+ -9.447806916695725
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.0943951023931953
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1465.0733291395306,
110
+ -226.27328593055944,
111
+ -9.447806916695725
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.0943951023931953
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1463.5733291395306,
123
+ -223.67520971920612,
124
+ -9.447806916695725
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.0943951023931953
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1462.0733291395306,
136
+ -221.0771335078528,
137
+ -9.447806916695725
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.0943951023931953
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1460.5733291395306,
149
+ -218.4790572964995,
150
+ -9.447806916695725
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 2.0943951023931953
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1459.0733291395306,
162
+ -215.88098108514617,
163
+ -9.447806916695725
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 2.0943951023931953
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1457.5733291395306,
175
+ -213.28290487379286,
176
+ -9.447806916695725
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 2.0943951023931953
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1456.0733291395306,
188
+ -210.68482866243954,
189
+ -9.447806916695725
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 2.0943951023931953
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1454.5733291395306,
201
+ -208.08675245108623,
202
+ -9.447806916695725
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 2.0943951023931953
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1453.0733291395306,
214
+ -205.4886762397329,
215
+ -9.447806916695725
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1451.5733291395306,
227
+ -202.8906000283796,
228
+ -9.447806916695725
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 2.0943951023931953
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1450.0733291395306,
240
+ -200.29252381702628,
241
+ -9.447806916695725
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 1448.5733291395306,
253
+ -197.69444760567296,
254
+ -9.447806916695725
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 2.0943951023931953
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 1447.0733291395306,
266
+ -195.09637139431965,
267
+ -9.447806916695725
268
+ ],
269
+ "type": "turn left",
270
+ "value": 30,
271
+ "yaw": 2.0943951023931953
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 1447.0733291395306,
279
+ -195.09637139431965,
280
+ -9.447806916695725
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 2.617993877991494
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 1444.4752529281773,
292
+ -193.59637139431965,
293
+ -9.447806916695725
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 2.6179938779915037
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 1441.877176716824,
305
+ -192.09637139431965,
306
+ -9.447806916695725
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 2.6179938779915037
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 1439.2791005054705,
318
+ -190.59637139431965,
319
+ -9.447806916695725
320
+ ],
321
+ "type": "stop",
322
+ "value": 0,
323
+ "yaw": 2.6179938779915037
324
+ }
325
+ }
326
+ {
327
+ "aim_landmark": {
328
+ "color": "test",
329
+ "feature": "test",
330
+ "position": [
331
+ 1437.3104949951173,
332
+ -187.02000331878662,
333
+ 0.0
334
+ ],
335
+ "shape": "test",
336
+ "size": "test",
337
+ "type": "building"
338
+ }
339
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-33-48_661955081/pose.jsonl ADDED
@@ -0,0 +1,365 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 189.81149225751938,
6
+ -257.26060609978856,
7
+ -7.7504747327596455
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 191.31149225751938,
19
+ -254.66252988843524,
20
+ -7.7504747327596455
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 192.81149225751938,
32
+ -252.06445367708193,
33
+ -7.7504747327596455
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 194.31149225751938,
45
+ -249.4663774657286,
46
+ -7.7504747327596455
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 195.81149225751938,
58
+ -246.8683012543753,
59
+ -7.7504747327596455
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 197.31149225751938,
71
+ -244.27022504302198,
72
+ -7.7504747327596455
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 198.81149225751938,
84
+ -241.67214883166866,
85
+ -7.7504747327596455
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 200.31149225751938,
97
+ -239.07407262031535,
98
+ -7.7504747327596455
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 201.81149225751938,
110
+ -236.47599640896203,
111
+ -7.7504747327596455
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 203.31149225751938,
123
+ -233.87792019760872,
124
+ -7.7504747327596455
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 204.81149225751938,
136
+ -231.2798439862554,
137
+ -7.7504747327596455
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 206.31149225751938,
149
+ -228.68176777490208,
150
+ -7.7504747327596455
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 207.81149225751938,
162
+ -226.08369156354877,
163
+ -7.7504747327596455
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 1.0471975511965979
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 209.31149225751938,
175
+ -223.48561535219545,
176
+ -7.7504747327596455
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 1.0471975511965979
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 210.81149225751938,
188
+ -220.88753914084214,
189
+ -7.7504747327596455
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 1.0471975511965979
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 212.31149225751938,
201
+ -218.28946292948882,
202
+ -7.7504747327596455
203
+ ],
204
+ "type": "turn right",
205
+ "value": 30,
206
+ "yaw": 1.0471975511965979
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 212.31149225751938,
214
+ -218.28946292948882,
215
+ -7.7504747327596455
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 0.523598775598299
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 214.9095684688727,
227
+ -216.78946292948882,
228
+ -7.7504747327596455
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 0.5235987755982988
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 217.507644680226,
240
+ -215.28946292948882,
241
+ -7.7504747327596455
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 0.5235987755982988
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 220.10572089157932,
253
+ -213.78946292948882,
254
+ -7.7504747327596455
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 0.5235987755982988
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 222.70379710293264,
266
+ -212.28946292948882,
267
+ -7.7504747327596455
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 0.5235987755982988
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 225.30187331428596,
279
+ -210.78946292948882,
280
+ -7.7504747327596455
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 0.5235987755982988
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 227.89994952563927,
292
+ -209.28946292948882,
293
+ -7.7504747327596455
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 0.5235987755982988
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 230.4980257369926,
305
+ -207.78946292948882,
306
+ -7.7504747327596455
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 0.5235987755982988
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 233.0961019483459,
318
+ -206.28946292948882,
319
+ -7.7504747327596455
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 0.5235987755982988
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 235.69417815969922,
331
+ -204.78946292948882,
332
+ -7.7504747327596455
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 0.5235987755982988
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ 238.29225437105254,
344
+ -203.28946292948882,
345
+ -7.7504747327596455
346
+ ],
347
+ "type": "stop",
348
+ "value": 0,
349
+ "yaw": 0.5235987755982988
350
+ }
351
+ }
352
+ {
353
+ "aim_landmark": {
354
+ "color": "test",
355
+ "feature": "test",
356
+ "position": [
357
+ 241.1424083709717,
358
+ -202.41772613525393,
359
+ 0.0
360
+ ],
361
+ "shape": "test",
362
+ "size": "test",
363
+ "type": "building"
364
+ }
365
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-38-27_1503967857/pose.jsonl ADDED
@@ -0,0 +1,339 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -233.39644155859727,
6
+ -372.95174169365555,
7
+ -2.0085163177245526
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -231.89644155859727,
19
+ -375.54981790500887,
20
+ -2.0085163177245526
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -230.39644155859727,
32
+ -378.1478941163622,
33
+ -2.0085163177245526
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -228.89644155859727,
45
+ -380.7459703277155,
46
+ -2.0085163177245526
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -227.39644155859727,
58
+ -383.3440465390688,
59
+ -2.0085163177245526
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -225.89644155859727,
71
+ -385.94212275042213,
72
+ -2.0085163177245526
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -224.39644155859727,
84
+ -388.54019896177545,
85
+ -2.0085163177245526
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -222.89644155859727,
97
+ -391.13827517312876,
98
+ -2.0085163177245526
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -221.39644155859727,
110
+ -393.7363513844821,
111
+ -2.0085163177245526
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -219.89644155859727,
123
+ -396.3344275958354,
124
+ -2.0085163177245526
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -218.39644155859727,
136
+ -398.9325038071887,
137
+ -2.0085163177245526
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -216.89644155859727,
149
+ -401.530580018542,
150
+ -2.0085163177245526
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -215.39644155859727,
162
+ -404.12865622989534,
163
+ -2.0085163177245526
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.0471975511965979
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -213.89644155859727,
175
+ -406.72673244124866,
176
+ -2.0085163177245526
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.0471975511965979
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -212.39644155859727,
188
+ -409.324808652602,
189
+ -2.0085163177245526
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.0471975511965979
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -210.89644155859727,
201
+ -411.9228848639553,
202
+ -2.0085163177245526
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.0471975511965979
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -209.39644155859727,
214
+ -414.5209610753086,
215
+ -2.0085163177245526
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.0471975511965979
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -207.89644155859727,
227
+ -417.1190372866619,
228
+ -2.0085163177245526
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.0471975511965979
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -206.39644155859727,
240
+ -419.71711349801524,
241
+ -2.0085163177245526
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.0471975511965979
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -204.89644155859727,
253
+ -422.31518970936855,
254
+ -2.0085163177245526
255
+ ],
256
+ "type": "turn right",
257
+ "value": 30,
258
+ "yaw": -1.0471975511965979
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -204.89644155859727,
266
+ -422.31518970936855,
267
+ -2.0085163177245526
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -204.89644155859727,
279
+ -425.31518970936855,
280
+ -2.0085163177245526
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -1.5707963267948966
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -204.89644155859727,
292
+ -428.31518970936855,
293
+ -2.0085163177245526
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -1.5707963267948966
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -204.89644155859727,
305
+ -431.31518970936855,
306
+ -2.0085163177245526
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -1.5707963267948966
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -204.89644155859727,
318
+ -434.31518970936855,
319
+ -2.0085163177245526
320
+ ],
321
+ "type": "stop",
322
+ "value": 0,
323
+ "yaw": -1.5707963267948966
324
+ }
325
+ }
326
+ {
327
+ "aim_landmark": {
328
+ "color": "test",
329
+ "feature": "test",
330
+ "position": [
331
+ -204.17917842864992,
332
+ -437.0482559204102,
333
+ 0.0
334
+ ],
335
+ "shape": "test",
336
+ "size": "test",
337
+ "type": "building"
338
+ }
339
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-41-34_1785550551/pose.jsonl ADDED
@@ -0,0 +1,287 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -6.126813830653031,
6
+ -31.93703660199924,
7
+ -6.918484582490649
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -3.126813830653031,
19
+ -31.93703660199924,
20
+ -6.918484582490649
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -0.1268138306530311,
32
+ -31.93703660199924,
33
+ -6.918484582490649
34
+ ],
35
+ "type": "turn left",
36
+ "value": 30,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -0.1268138306530311,
45
+ -31.93703660199924,
46
+ -6.918484582490649
47
+ ],
48
+ "type": "turn left",
49
+ "value": 30,
50
+ "yaw": 0.5235987755982988
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -0.1268138306530311,
58
+ -31.93703660199924,
59
+ -6.918484582490649
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 1.0471975511965976
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1.3731861693469694,
71
+ -29.338960390645923,
72
+ -6.918484582490649
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 1.0471975511965976
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 2.87318616934697,
84
+ -26.740884179292607,
85
+ -6.918484582490649
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 1.0471975511965976
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 4.373186169346971,
97
+ -24.14280796793929,
98
+ -6.918484582490649
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 1.0471975511965974
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 5.873186169346971,
110
+ -21.544731756585975,
111
+ -6.918484582490649
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 7.373186169346971,
123
+ -18.94665554523266,
124
+ -6.918484582490649
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 8.87318616934697,
136
+ -16.348579333879343,
137
+ -6.918484582490649
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 10.37318616934697,
149
+ -13.750503122526027,
150
+ -6.918484582490649
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 11.87318616934697,
162
+ -11.15242691117271,
163
+ -6.918484582490649
164
+ ],
165
+ "type": "turn right",
166
+ "value": 30,
167
+ "yaw": 1.0471975511965979
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 11.87318616934697,
175
+ -11.15242691117271,
176
+ -6.918484582490649
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 0.523598775598299
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 14.471262380700287,
188
+ -9.65242691117271,
189
+ -6.918484582490649
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 0.5235987755982988
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 17.069338592053604,
201
+ -8.15242691117271,
202
+ -6.918484582490649
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 0.5235987755982986
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 19.66741480340692,
214
+ -6.652426911172711,
215
+ -6.918484582490649
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 0.5235987755982988
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 22.265491014760237,
227
+ -5.152426911172711,
228
+ -6.918484582490649
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 0.5235987755982988
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 24.863567226113553,
240
+ -3.652426911172711,
241
+ -6.918484582490649
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 0.5235987755982988
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 27.46164343746687,
253
+ -2.152426911172711,
254
+ -6.918484582490649
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 0.5235987755982988
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 30.059719648820185,
266
+ -0.652426911172711,
267
+ -6.918484582490649
268
+ ],
269
+ "type": "stop",
270
+ "value": 0,
271
+ "yaw": 0.5235987755982988
272
+ }
273
+ }
274
+ {
275
+ "aim_landmark": {
276
+ "color": "test",
277
+ "feature": "test",
278
+ "position": [
279
+ 31.34878616333008,
280
+ 1.572951889038086,
281
+ 0.0
282
+ ],
283
+ "shape": "test",
284
+ "size": "test",
285
+ "type": "building"
286
+ }
287
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-58-8_1238498976/pose.jsonl ADDED
@@ -0,0 +1,365 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 41.48572411956755,
6
+ 143.16318120568863,
7
+ -4.809217565758681
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 44.48572411956755,
19
+ 143.16318120568863,
20
+ -4.809217565758681
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 47.48572411956755,
32
+ 143.16318120568863,
33
+ -4.809217565758681
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 50.48572411956755,
45
+ 143.16318120568863,
46
+ -4.809217565758681
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 53.48572411956755,
58
+ 143.16318120568863,
59
+ -4.809217565758681
60
+ ],
61
+ "type": "turn left",
62
+ "value": 30,
63
+ "yaw": 0.0
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 53.48572411956755,
71
+ 143.16318120568863,
72
+ -4.809217565758681
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.5235987755982988
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 56.083800330920866,
84
+ 144.66318120568863,
85
+ -4.809217565758681
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.5235987755982988
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 58.68187654227418,
97
+ 146.16318120568863,
98
+ -4.809217565758681
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.5235987755982988
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 61.2799527536275,
110
+ 147.66318120568863,
111
+ -4.809217565758681
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 0.5235987755982988
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 63.878028964980814,
123
+ 149.16318120568863,
124
+ -4.809217565758681
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.5235987755982988
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 66.47610517633413,
136
+ 150.66318120568863,
137
+ -4.809217565758681
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 0.5235987755982988
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 69.07418138768745,
149
+ 152.16318120568863,
150
+ -4.809217565758681
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 0.5235987755982988
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 71.67225759904076,
162
+ 153.66318120568863,
163
+ -4.809217565758681
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 0.5235987755982988
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 74.27033381039408,
175
+ 155.16318120568863,
176
+ -4.809217565758681
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 0.5235987755982988
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 76.8684100217474,
188
+ 156.66318120568863,
189
+ -4.809217565758681
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 0.5235987755982988
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 79.46648623310071,
201
+ 158.16318120568863,
202
+ -4.809217565758681
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 0.5235987755982988
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 82.06456244445403,
214
+ 159.66318120568863,
215
+ -4.809217565758681
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 0.5235987755982988
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 84.66263865580734,
227
+ 161.16318120568863,
228
+ -4.809217565758681
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 0.5235987755982988
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 87.26071486716066,
240
+ 162.66318120568863,
241
+ -4.809217565758681
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 0.5235987755982988
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 89.85879107851397,
253
+ 164.16318120568863,
254
+ -4.809217565758681
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 0.5235987755982988
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 92.45686728986729,
266
+ 165.66318120568863,
267
+ -4.809217565758681
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 0.5235987755982988
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 95.0549435012206,
279
+ 167.16318120568863,
280
+ -4.809217565758681
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 0.5235987755982988
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 97.65301971257392,
292
+ 168.66318120568863,
293
+ -4.809217565758681
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 0.5235987755982988
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 100.25109592392724,
305
+ 170.16318120568863,
306
+ -4.809217565758681
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 0.5235987755982988
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 102.84917213528055,
318
+ 171.66318120568863,
319
+ -4.809217565758681
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 0.5235987755982988
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 105.44724834663387,
331
+ 173.16318120568863,
332
+ -4.809217565758681
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 0.5235987755982988
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ 108.04532455798719,
344
+ 174.66318120568863,
345
+ -4.809217565758681
346
+ ],
347
+ "type": "stop",
348
+ "value": 0,
349
+ "yaw": 0.5235987755982988
350
+ }
351
+ }
352
+ {
353
+ "aim_landmark": {
354
+ "color": "test",
355
+ "feature": "test",
356
+ "position": [
357
+ 108.78504695892335,
358
+ 175.8657693862915,
359
+ 0.0
360
+ ],
361
+ "shape": "test",
362
+ "size": "test",
363
+ "type": "building"
364
+ }
365
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-11-33_386839851/pose.jsonl ADDED
@@ -0,0 +1,222 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1098.3865438505095,
6
+ 171.97017705049336,
7
+ -3.979851595228764
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 3.141592653589793
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1095.3865438505095,
19
+ 171.97017705049336,
20
+ -3.979851595228764
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 3.141592653589793
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1092.3865438505095,
32
+ 171.97017705049336,
33
+ -3.979851595228764
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 3.141592653589793
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1089.3865438505095,
45
+ 171.97017705049336,
46
+ -3.979851595228764
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 3.141592653589793
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1086.3865438505095,
58
+ 171.97017705049336,
59
+ -3.979851595228764
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 3.141592653589793
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1083.3865438505095,
71
+ 171.97017705049336,
72
+ -3.979851595228764
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 3.141592653589793
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1080.3865438505095,
84
+ 171.97017705049336,
85
+ -3.979851595228764
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 3.141592653589793
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1077.3865438505095,
97
+ 171.97017705049336,
98
+ -3.979851595228764
99
+ ],
100
+ "type": "turn left",
101
+ "value": 30,
102
+ "yaw": 3.141592653589793
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1077.3865438505095,
110
+ 171.97017705049336,
111
+ -3.979851595228764
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 3.665191429188092
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1074.7884676391561,
123
+ 170.47017705049336,
124
+ -3.979851595228764
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.6179938779915037
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1072.1903914278028,
136
+ 168.97017705049336,
137
+ -3.979851595228764
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.6179938779915037
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1069.5923152164494,
149
+ 167.47017705049336,
150
+ -3.979851595228764
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.6179938779915037
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1066.994239005096,
162
+ 165.97017705049336,
163
+ -3.979851595228764
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.6179938779915037
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1064.3961627937426,
175
+ 164.47017705049336,
176
+ -3.979851595228764
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.6179938779915037
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1061.7980865823893,
188
+ 162.97017705049336,
189
+ -3.979851595228764
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.6179938779915037
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1059.200010371036,
201
+ 161.47017705049336,
202
+ -3.979851595228764
203
+ ],
204
+ "type": "stop",
205
+ "value": 0,
206
+ "yaw": -2.6179938779915037
207
+ }
208
+ }
209
+ {
210
+ "aim_landmark": {
211
+ "color": "test",
212
+ "feature": "test",
213
+ "position": [
214
+ 1048.2760719299317,
215
+ 161.26469898223877,
216
+ 0.0
217
+ ],
218
+ "shape": "test",
219
+ "size": "test",
220
+ "type": "building"
221
+ }
222
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-27-57_929588156/pose.jsonl ADDED
@@ -0,0 +1,274 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 35.82971841447251,
6
+ 60.656208130433285,
7
+ -5.9794490283276
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.5707963267948966
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 35.82971841447251,
19
+ 57.656208130433285,
20
+ -5.9794490283276
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.5707963267948966
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 35.82971841447251,
32
+ 54.656208130433285,
33
+ -5.9794490283276
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.5707963267948966
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 35.82971841447251,
45
+ 51.656208130433285,
46
+ -5.9794490283276
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.5707963267948966
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 35.82971841447251,
58
+ 48.656208130433285,
59
+ -5.9794490283276
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.5707963267948966
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 35.82971841447251,
71
+ 45.656208130433285,
72
+ -5.9794490283276
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.5707963267948966
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 35.82971841447251,
84
+ 42.656208130433285,
85
+ -5.9794490283276
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.5707963267948966
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 35.82971841447251,
97
+ 39.656208130433285,
98
+ -5.9794490283276
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.5707963267948966
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 35.82971841447251,
110
+ 36.656208130433285,
111
+ -5.9794490283276
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.5707963267948966
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 35.82971841447251,
123
+ 33.656208130433285,
124
+ -5.9794490283276
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.5707963267948966
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 35.82971841447251,
136
+ 30.656208130433285,
137
+ -5.9794490283276
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.5707963267948966
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 35.82971841447251,
149
+ 27.656208130433285,
150
+ -5.9794490283276
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.5707963267948966
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 35.82971841447251,
162
+ 24.656208130433285,
163
+ -5.9794490283276
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 35.82971841447251,
175
+ 21.656208130433285,
176
+ -5.9794490283276
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 35.82971841447251,
188
+ 18.656208130433285,
189
+ -5.9794490283276
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 35.82971841447251,
201
+ 15.656208130433285,
202
+ -5.9794490283276
203
+ ],
204
+ "type": "turn right",
205
+ "value": 30,
206
+ "yaw": -1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 35.82971841447251,
214
+ 15.656208130433285,
215
+ -5.9794490283276
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 34.32971841447251,
227
+ 13.058131919079969,
228
+ -5.9794490283276
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -2.0943951023931953
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 32.82971841447251,
240
+ 10.460055707726653,
241
+ -5.9794490283276
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 31.32971841447251,
253
+ 7.861979496373337,
254
+ -5.9794490283276
255
+ ],
256
+ "type": "stop",
257
+ "value": 0,
258
+ "yaw": -2.0943951023931953
259
+ }
260
+ }
261
+ {
262
+ "aim_landmark": {
263
+ "color": "test",
264
+ "feature": "test",
265
+ "position": [
266
+ 31.950906944274905,
267
+ 5.022578048706055,
268
+ 0.0
269
+ ],
270
+ "shape": "test",
271
+ "size": "test",
272
+ "type": "building"
273
+ }
274
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-7-42_576994985/pose.jsonl ADDED
@@ -0,0 +1,326 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 225.80165860249176,
6
+ -492.470624157488,
7
+ -8.850516394307597
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 228.80165860249176,
19
+ -492.470624157488,
20
+ -8.850516394307597
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 231.80165860249176,
32
+ -492.470624157488,
33
+ -8.850516394307597
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 234.80165860249176,
45
+ -492.470624157488,
46
+ -8.850516394307597
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 237.80165860249176,
58
+ -492.470624157488,
59
+ -8.850516394307597
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.0
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 240.80165860249176,
71
+ -492.470624157488,
72
+ -8.850516394307597
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.0
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 243.80165860249176,
84
+ -492.470624157488,
85
+ -8.850516394307597
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.0
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 246.80165860249176,
97
+ -492.470624157488,
98
+ -8.850516394307597
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.0
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 249.80165860249176,
110
+ -492.470624157488,
111
+ -8.850516394307597
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 0.0
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 252.80165860249176,
123
+ -492.470624157488,
124
+ -8.850516394307597
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.0
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 255.80165860249176,
136
+ -492.470624157488,
137
+ -8.850516394307597
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 0.0
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 258.8016586024918,
149
+ -492.470624157488,
150
+ -8.850516394307597
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 0.0
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 261.8016586024918,
162
+ -492.470624157488,
163
+ -8.850516394307597
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 0.0
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 264.8016586024918,
175
+ -492.470624157488,
176
+ -8.850516394307597
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 0.0
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 267.8016586024918,
188
+ -492.470624157488,
189
+ -8.850516394307597
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 0.0
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 270.8016586024918,
201
+ -492.470624157488,
202
+ -8.850516394307597
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 0.0
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 273.8016586024918,
214
+ -492.470624157488,
215
+ -8.850516394307597
216
+ ],
217
+ "type": "turn right",
218
+ "value": 30,
219
+ "yaw": 0.0
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 273.8016586024918,
227
+ -492.470624157488,
228
+ -8.850516394307597
229
+ ],
230
+ "type": "turn right",
231
+ "value": 30,
232
+ "yaw": -0.5235987755982988
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 273.8016586024918,
240
+ -492.470624157488,
241
+ -8.850516394307597
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.0471975511965976
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 275.3016586024918,
253
+ -495.0687003688413,
254
+ -8.850516394307597
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -1.0471975511965979
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 276.8016586024918,
266
+ -497.6667765801946,
267
+ -8.850516394307597
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -1.0471975511965979
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 278.3016586024918,
279
+ -500.2648527915479,
280
+ -8.850516394307597
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -1.0471975511965979
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 279.8016586024918,
292
+ -502.86292900290124,
293
+ -8.850516394307597
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -1.0471975511965979
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 281.3016586024918,
305
+ -505.46100521425456,
306
+ -8.850516394307597
307
+ ],
308
+ "type": "stop",
309
+ "value": 0,
310
+ "yaw": -1.0471975511965979
311
+ }
312
+ }
313
+ {
314
+ "aim_landmark": {
315
+ "color": "test",
316
+ "feature": "test",
317
+ "position": [
318
+ 283.3368732452393,
319
+ -507.865353012085,
320
+ 0.0
321
+ ],
322
+ "shape": "test",
323
+ "size": "test",
324
+ "type": "building"
325
+ }
326
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-26-7_1025202362/pose.jsonl ADDED
@@ -0,0 +1,287 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 5.602318645799308,
6
+ -322.97896273252616,
7
+ -2.8805853574390383
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.6179938779914944
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 3.0042424344459917,
19
+ -324.47896273252616,
20
+ -2.8805853574390383
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.6179938779914944
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 0.4061662230926757,
32
+ -325.97896273252616,
33
+ -2.8805853574390383
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.6179938779914944
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -2.1919099882606403,
45
+ -327.47896273252616,
46
+ -2.8805853574390383
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.6179938779914944
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -4.789986199613956,
58
+ -328.97896273252616,
59
+ -2.8805853574390383
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.6179938779914944
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -7.388062410967272,
71
+ -330.47896273252616,
72
+ -2.8805853574390383
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.6179938779914944
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -9.986138622320588,
84
+ -331.97896273252616,
85
+ -2.8805853574390383
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.6179938779914944
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -12.584214833673904,
97
+ -333.47896273252616,
98
+ -2.8805853574390383
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.6179938779914944
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -15.18229104502722,
110
+ -334.97896273252616,
111
+ -2.8805853574390383
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.6179938779914944
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -17.780367256380536,
123
+ -336.47896273252616,
124
+ -2.8805853574390383
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.6179938779914944
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -20.378443467733852,
136
+ -337.97896273252616,
137
+ -2.8805853574390383
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.6179938779914944
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -22.97651967908717,
149
+ -339.47896273252616,
150
+ -2.8805853574390383
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.6179938779914944
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -25.574595890440484,
162
+ -340.97896273252616,
163
+ -2.8805853574390383
164
+ ],
165
+ "type": "turn left",
166
+ "value": 30,
167
+ "yaw": -2.6179938779914944
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -25.574595890440484,
175
+ -340.97896273252616,
176
+ -2.8805853574390383
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.0943951023931957
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -27.074595890440484,
188
+ -343.5770389438795,
189
+ -2.8805853574390383
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.0943951023931953
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -28.574595890440484,
201
+ -346.1751151552328,
202
+ -2.8805853574390383
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.0943951023931953
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -30.074595890440484,
214
+ -348.7731913665861,
215
+ -2.8805853574390383
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -31.574595890440484,
227
+ -351.3712675779394,
228
+ -2.8805853574390383
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -2.0943951023931953
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -33.074595890440484,
240
+ -353.96934378929274,
241
+ -2.8805853574390383
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -34.574595890440484,
253
+ -356.56742000064605,
254
+ -2.8805853574390383
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -2.0943951023931953
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -36.074595890440484,
266
+ -359.16549621199937,
267
+ -2.8805853574390383
268
+ ],
269
+ "type": "stop",
270
+ "value": 0,
271
+ "yaw": -2.0943951023931953
272
+ }
273
+ }
274
+ {
275
+ "aim_landmark": {
276
+ "color": "test",
277
+ "feature": "test",
278
+ "position": [
279
+ -37.04707775115967,
280
+ -360.1783214569092,
281
+ 0.0
282
+ ],
283
+ "shape": "test",
284
+ "size": "test",
285
+ "type": "building"
286
+ }
287
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-36-15_135497281/pose.jsonl ADDED
@@ -0,0 +1,248 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 826.6115605043335,
6
+ -340.51107214820206,
7
+ -1.3400643785655646
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 829.6115605043335,
19
+ -340.51107214820206,
20
+ -1.3400643785655646
21
+ ],
22
+ "type": "turn right",
23
+ "value": 30,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 829.6115605043335,
32
+ -340.51107214820206,
33
+ -1.3400643785655646
34
+ ],
35
+ "type": "turn right",
36
+ "value": 30,
37
+ "yaw": -0.5235987755982988
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 829.6115605043335,
45
+ -340.51107214820206,
46
+ -1.3400643785655646
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.0471975511965976
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 831.1115605043335,
58
+ -343.1091483595554,
59
+ -1.3400643785655646
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 832.6115605043335,
71
+ -345.7072245709087,
72
+ -1.3400643785655646
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 834.1115605043335,
84
+ -348.305300782262,
85
+ -1.3400643785655646
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 835.6115605043335,
97
+ -350.9033769936153,
98
+ -1.3400643785655646
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 837.1115605043335,
110
+ -353.50145320496864,
111
+ -1.3400643785655646
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 838.6115605043335,
123
+ -356.09952941632196,
124
+ -1.3400643785655646
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 840.1115605043335,
136
+ -358.6976056276753,
137
+ -1.3400643785655646
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 841.6115605043335,
149
+ -361.2956818390286,
150
+ -1.3400643785655646
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 843.1115605043335,
162
+ -363.8937580503819,
163
+ -1.3400643785655646
164
+ ],
165
+ "type": "turn left",
166
+ "value": 30,
167
+ "yaw": -1.0471975511965979
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 843.1115605043335,
175
+ -363.8937580503819,
176
+ -1.3400643785655646
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -0.523598775598299
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 845.7096367156869,
188
+ -365.3937580503819,
189
+ -1.3400643785655646
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -0.5235987755982894
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 848.3077129270403,
201
+ -366.8937580503819,
202
+ -1.3400643785655646
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -0.5235987755982894
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 850.9057891383936,
214
+ -368.3937580503819,
215
+ -1.3400643785655646
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -0.5235987755982894
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 853.503865349747,
227
+ -369.8937580503819,
228
+ -1.3400643785655646
229
+ ],
230
+ "type": "stop",
231
+ "value": 0,
232
+ "yaw": -0.5235987755982894
233
+ }
234
+ }
235
+ {
236
+ "aim_landmark": {
237
+ "color": "test",
238
+ "feature": "test",
239
+ "position": [
240
+ 874.085353088379,
241
+ -387.6059455871582,
242
+ 0.0
243
+ ],
244
+ "shape": "test",
245
+ "size": "test",
246
+ "type": "building"
247
+ }
248
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-48-32_1194953865/pose.jsonl ADDED
@@ -0,0 +1,339 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1257.547544201128,
6
+ 308.81100790995856,
7
+ -8.967574658549609
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.5707963267948966
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1257.547544201128,
19
+ 305.81100790995856,
20
+ -8.967574658549609
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.5707963267948966
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1257.547544201128,
32
+ 302.81100790995856,
33
+ -8.967574658549609
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.5707963267948966
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1257.547544201128,
45
+ 299.81100790995856,
46
+ -8.967574658549609
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.5707963267948966
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1257.547544201128,
58
+ 296.81100790995856,
59
+ -8.967574658549609
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.5707963267948966
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1257.547544201128,
71
+ 293.81100790995856,
72
+ -8.967574658549609
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.5707963267948966
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1257.547544201128,
84
+ 290.81100790995856,
85
+ -8.967574658549609
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.5707963267948966
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1257.547544201128,
97
+ 287.81100790995856,
98
+ -8.967574658549609
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.5707963267948966
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1257.547544201128,
110
+ 284.81100790995856,
111
+ -8.967574658549609
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.5707963267948966
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1257.547544201128,
123
+ 281.81100790995856,
124
+ -8.967574658549609
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.5707963267948966
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1257.547544201128,
136
+ 278.81100790995856,
137
+ -8.967574658549609
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.5707963267948966
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1257.547544201128,
149
+ 275.81100790995856,
150
+ -8.967574658549609
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.5707963267948966
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1257.547544201128,
162
+ 272.81100790995856,
163
+ -8.967574658549609
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1257.547544201128,
175
+ 269.81100790995856,
176
+ -8.967574658549609
177
+ ],
178
+ "type": "turn right",
179
+ "value": 30,
180
+ "yaw": -1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1257.547544201128,
188
+ 269.81100790995856,
189
+ -8.967574658549609
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.0943951023931953
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1256.047544201128,
201
+ 267.21293169860525,
202
+ -8.967574658549609
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.0943951023931953
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1254.547544201128,
214
+ 264.61485548725193,
215
+ -8.967574658549609
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1253.047544201128,
227
+ 262.0167792758986,
228
+ -8.967574658549609
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -2.0943951023931953
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1251.547544201128,
240
+ 259.4187030645453,
241
+ -8.967574658549609
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 1250.047544201128,
253
+ 256.820626853192,
254
+ -8.967574658549609
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -2.0943951023931953
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 1248.547544201128,
266
+ 254.22255064183867,
267
+ -8.967574658549609
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -2.0943951023931953
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 1247.047544201128,
279
+ 251.62447443048535,
280
+ -8.967574658549609
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -2.0943951023931953
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 1245.547544201128,
292
+ 249.02639821913203,
293
+ -8.967574658549609
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -2.0943951023931953
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 1244.047544201128,
305
+ 246.42832200777872,
306
+ -8.967574658549609
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -2.0943951023931953
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 1242.547544201128,
318
+ 243.8302457964254,
319
+ -8.967574658549609
320
+ ],
321
+ "type": "stop",
322
+ "value": 0,
323
+ "yaw": -2.0943951023931953
324
+ }
325
+ }
326
+ {
327
+ "aim_landmark": {
328
+ "color": "test",
329
+ "feature": "test",
330
+ "position": [
331
+ 1243.735294342041,
332
+ 241.00056648254397,
333
+ 0.0
334
+ ],
335
+ "shape": "test",
336
+ "size": "test",
337
+ "type": "building"
338
+ }
339
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-53-36_2040332871/pose.jsonl ADDED
@@ -0,0 +1,300 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 521.3853445618485,
6
+ -339.38598327001654,
7
+ -6.271507242473205
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 519.8853445618485,
19
+ -341.98405948136985,
20
+ -6.271507242473205
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 518.3853445618485,
32
+ -344.58213569272317,
33
+ -6.271507242473205
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 516.8853445618485,
45
+ -347.1802119040765,
46
+ -6.271507242473205
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.0943951023931953
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 515.3853445618485,
58
+ -349.7782881154298,
59
+ -6.271507242473205
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.0943951023931953
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 513.8853445618485,
71
+ -352.3763643267831,
72
+ -6.271507242473205
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.0943951023931953
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 512.3853445618485,
84
+ -354.97444053813643,
85
+ -6.271507242473205
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.0943951023931953
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 510.88534456184846,
97
+ -357.57251674948975,
98
+ -6.271507242473205
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.0943951023931953
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 509.38534456184846,
110
+ -360.17059296084307,
111
+ -6.271507242473205
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.0943951023931953
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 507.88534456184846,
123
+ -362.7686691721964,
124
+ -6.271507242473205
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.0943951023931953
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 506.38534456184846,
136
+ -365.3667453835497,
137
+ -6.271507242473205
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.0943951023931953
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 504.88534456184846,
149
+ -367.964821594903,
150
+ -6.271507242473205
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.0943951023931953
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 503.38534456184846,
162
+ -370.56289780625633,
163
+ -6.271507242473205
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.0943951023931953
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 501.88534456184846,
175
+ -373.16097401760965,
176
+ -6.271507242473205
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.0943951023931953
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 500.38534456184846,
188
+ -375.75905022896296,
189
+ -6.271507242473205
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.0943951023931953
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 498.88534456184846,
201
+ -378.3571264403163,
202
+ -6.271507242473205
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.0943951023931953
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 497.38534456184846,
214
+ -380.9552026516696,
215
+ -6.271507242473205
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 495.88534456184846,
227
+ -383.5532788630229,
228
+ -6.271507242473205
229
+ ],
230
+ "type": "turn left",
231
+ "value": 30,
232
+ "yaw": -2.0943951023931953
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 495.88534456184846,
240
+ -383.5532788630229,
241
+ -6.271507242473205
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 495.88534456184846,
253
+ -386.5532788630229,
254
+ -6.271507242473205
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 495.88534456184846,
266
+ -389.5532788630229,
267
+ -6.271507242473205
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 495.88534456184846,
279
+ -392.5532788630229,
280
+ -6.271507242473205
281
+ ],
282
+ "type": "stop",
283
+ "value": 0,
284
+ "yaw": -1.5707963267948966
285
+ }
286
+ }
287
+ {
288
+ "aim_landmark": {
289
+ "color": "test",
290
+ "feature": "test",
291
+ "position": [
292
+ 495.27006835937505,
293
+ -393.85822601318364,
294
+ 0.0
295
+ ],
296
+ "shape": "test",
297
+ "size": "test",
298
+ "type": "building"
299
+ }
300
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-11-43_243268139/pose.jsonl ADDED
@@ -0,0 +1,300 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -169.95339329508226,
6
+ -327.6876600708564,
7
+ -9.007927457955274
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.5235987755982988
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -167.35531708372895,
19
+ -326.1876600708564,
20
+ -9.007927457955274
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.5235987755982988
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -164.75724087237563,
32
+ -324.6876600708564,
33
+ -9.007927457955274
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.5235987755982988
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -162.15916466102232,
45
+ -323.1876600708564,
46
+ -9.007927457955274
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.5235987755982988
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -159.561088449669,
58
+ -321.6876600708564,
59
+ -9.007927457955274
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.5235987755982988
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -156.96301223831568,
71
+ -320.1876600708564,
72
+ -9.007927457955274
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.5235987755982988
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -154.36493602696237,
84
+ -318.6876600708564,
85
+ -9.007927457955274
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.5235987755982988
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -151.76685981560905,
97
+ -317.1876600708564,
98
+ -9.007927457955274
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.5235987755982988
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -149.16878360425574,
110
+ -315.6876600708564,
111
+ -9.007927457955274
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 0.5235987755982988
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -146.57070739290242,
123
+ -314.1876600708564,
124
+ -9.007927457955274
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.5235987755982988
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -143.9726311815491,
136
+ -312.6876600708564,
137
+ -9.007927457955274
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 0.5235987755982988
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -141.3745549701958,
149
+ -311.1876600708564,
150
+ -9.007927457955274
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 0.5235987755982988
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -138.77647875884247,
162
+ -309.6876600708564,
163
+ -9.007927457955274
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 0.5235987755982988
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -136.17840254748916,
175
+ -308.1876600708564,
176
+ -9.007927457955274
177
+ ],
178
+ "type": "turn left",
179
+ "value": 30,
180
+ "yaw": 0.5235987755982988
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -136.17840254748916,
188
+ -308.1876600708564,
189
+ -9.007927457955274
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 1.0471975511965976
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -134.67840254748916,
201
+ -305.5895838595031,
202
+ -9.007927457955274
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 1.0471975511965979
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -133.17840254748916,
214
+ -302.99150764814976,
215
+ -9.007927457955274
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 1.0471975511965979
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -131.67840254748916,
227
+ -300.39343143679645,
228
+ -9.007927457955274
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 1.0471975511965979
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -130.17840254748916,
240
+ -297.79535522544313,
241
+ -9.007927457955274
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 1.0471975511965979
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -128.67840254748916,
253
+ -295.1972790140898,
254
+ -9.007927457955274
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 1.0471975511965979
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -127.17840254748916,
266
+ -292.5992028027365,
267
+ -9.007927457955274
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 1.0471975511965979
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -125.67840254748916,
279
+ -290.0011265913832,
280
+ -9.007927457955274
281
+ ],
282
+ "type": "stop",
283
+ "value": 0,
284
+ "yaw": 1.0471975511965979
285
+ }
286
+ }
287
+ {
288
+ "aim_landmark": {
289
+ "color": "test",
290
+ "feature": "test",
291
+ "position": [
292
+ -122.89827556610108,
293
+ -288.4065223693848,
294
+ 0.0
295
+ ],
296
+ "shape": "test",
297
+ "size": "test",
298
+ "type": "building"
299
+ }
300
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-15-2_1034949299/pose.jsonl ADDED
@@ -0,0 +1,261 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -202.42763285408182,
6
+ -244.90675490600486,
7
+ -8.858974539972934
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -199.42763285408182,
19
+ -244.90675490600486,
20
+ -8.858974539972934
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -196.42763285408182,
32
+ -244.90675490600486,
33
+ -8.858974539972934
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -193.42763285408182,
45
+ -244.90675490600486,
46
+ -8.858974539972934
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -190.42763285408182,
58
+ -244.90675490600486,
59
+ -8.858974539972934
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.0
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -187.42763285408182,
71
+ -244.90675490600486,
72
+ -8.858974539972934
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.0
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -184.42763285408182,
84
+ -244.90675490600486,
85
+ -8.858974539972934
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.0
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -181.42763285408182,
97
+ -244.90675490600486,
98
+ -8.858974539972934
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.0
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -178.42763285408182,
110
+ -244.90675490600486,
111
+ -8.858974539972934
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 0.0
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -175.42763285408182,
123
+ -244.90675490600486,
124
+ -8.858974539972934
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.0
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -172.42763285408182,
136
+ -244.90675490600486,
137
+ -8.858974539972934
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 0.0
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -169.42763285408182,
149
+ -244.90675490600486,
150
+ -8.858974539972934
151
+ ],
152
+ "type": "turn left",
153
+ "value": 30,
154
+ "yaw": 0.0
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -169.42763285408182,
162
+ -244.90675490600486,
163
+ -8.858974539972934
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 0.5235987755982988
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -166.8295566427285,
175
+ -243.40675490600486,
176
+ -8.858974539972934
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 0.5235987755982988
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -164.2314804313752,
188
+ -241.90675490600486,
189
+ -8.858974539972934
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 0.5235987755982988
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -161.63340422002187,
201
+ -240.40675490600486,
202
+ -8.858974539972934
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 0.5235987755982988
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -159.03532800866856,
214
+ -238.90675490600486,
215
+ -8.858974539972934
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 0.5235987755982988
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -156.43725179731524,
227
+ -237.40675490600486,
228
+ -8.858974539972934
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 0.5235987755982988
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -153.83917558596193,
240
+ -235.90675490600486,
241
+ -8.858974539972934
242
+ ],
243
+ "type": "stop",
244
+ "value": 0,
245
+ "yaw": 0.5235987755982988
246
+ }
247
+ }
248
+ {
249
+ "aim_landmark": {
250
+ "color": "test",
251
+ "feature": "test",
252
+ "position": [
253
+ -152.3348680496216,
254
+ -234.43780555725098,
255
+ 0.0
256
+ ],
257
+ "shape": "test",
258
+ "size": "test",
259
+ "type": "building"
260
+ }
261
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-16-29_1494613810/pose.jsonl ADDED
@@ -0,0 +1,365 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1444.2604569890295,
6
+ 2.148845249605131,
7
+ -4.004746540025518
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 1.5707963267948966
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1444.2604569890295,
19
+ 5.148845249605131,
20
+ -4.004746540025518
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 1.5707963267948966
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1444.2604569890295,
32
+ 8.148845249605131,
33
+ -4.004746540025518
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 1.5707963267948966
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1444.2604569890295,
45
+ 11.148845249605131,
46
+ -4.004746540025518
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 1.5707963267948966
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1444.2604569890295,
58
+ 14.148845249605131,
59
+ -4.004746540025518
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 1.5707963267948966
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1444.2604569890295,
71
+ 17.14884524960513,
72
+ -4.004746540025518
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 1.5707963267948966
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1444.2604569890295,
84
+ 20.14884524960513,
85
+ -4.004746540025518
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 1.5707963267948966
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1444.2604569890295,
97
+ 23.14884524960513,
98
+ -4.004746540025518
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 1.5707963267948966
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1444.2604569890295,
110
+ 26.14884524960513,
111
+ -4.004746540025518
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 1.5707963267948966
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1444.2604569890295,
123
+ 29.14884524960513,
124
+ -4.004746540025518
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 1.5707963267948966
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1444.2604569890295,
136
+ 32.14884524960513,
137
+ -4.004746540025518
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 1.5707963267948966
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1444.2604569890295,
149
+ 35.14884524960513,
150
+ -4.004746540025518
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 1.5707963267948966
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1444.2604569890295,
162
+ 38.14884524960513,
163
+ -4.004746540025518
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1444.2604569890295,
175
+ 41.14884524960513,
176
+ -4.004746540025518
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1444.2604569890295,
188
+ 44.14884524960513,
189
+ -4.004746540025518
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1444.2604569890295,
201
+ 47.14884524960513,
202
+ -4.004746540025518
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1444.2604569890295,
214
+ 50.14884524960513,
215
+ -4.004746540025518
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1444.2604569890295,
227
+ 53.14884524960513,
228
+ -4.004746540025518
229
+ ],
230
+ "type": "turn left",
231
+ "value": 30,
232
+ "yaw": 1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1444.2604569890295,
240
+ 53.14884524960513,
241
+ -4.004746540025518
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 1442.7604569890295,
253
+ 55.74692146095845,
254
+ -4.004746540025518
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 2.0943951023931953
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 1441.2604569890295,
266
+ 58.34499767231176,
267
+ -4.004746540025518
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 2.0943951023931953
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 1439.7604569890295,
279
+ 60.94307388366508,
280
+ -4.004746540025518
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 2.0943951023931953
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 1438.2604569890295,
292
+ 63.541150095018395,
293
+ -4.004746540025518
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 2.0943951023931953
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 1436.7604569890295,
305
+ 66.13922630637171,
306
+ -4.004746540025518
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 2.0943951023931953
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 1435.2604569890295,
318
+ 68.73730251772503,
319
+ -4.004746540025518
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 2.0943951023931953
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 1433.7604569890295,
331
+ 71.33537872907834,
332
+ -4.004746540025518
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 2.0943951023931953
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ 1432.2604569890295,
344
+ 73.93345494043166,
345
+ -4.004746540025518
346
+ ],
347
+ "type": "stop",
348
+ "value": 0,
349
+ "yaw": 2.0943951023931953
350
+ }
351
+ }
352
+ {
353
+ "aim_landmark": {
354
+ "color": "test",
355
+ "feature": "test",
356
+ "position": [
357
+ 1432.5684967041016,
358
+ 76.17316565513612,
359
+ 0.0
360
+ ],
361
+ "shape": "test",
362
+ "size": "test",
363
+ "type": "building"
364
+ }
365
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-29-36_387451659/pose.jsonl ADDED
@@ -0,0 +1,261 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1359.8006950812999,
6
+ -139.13328313415724,
7
+ -8.531018722981408
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1361.3006950812999,
19
+ -136.53520692280392,
20
+ -8.531018722981408
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1362.8006950812999,
32
+ -133.9371307114506,
33
+ -8.531018722981408
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1364.3006950812999,
45
+ -131.3390545000973,
46
+ -8.531018722981408
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1365.8006950812999,
58
+ -128.74097828874397,
59
+ -8.531018722981408
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1367.3006950812999,
71
+ -126.14290207739066,
72
+ -8.531018722981408
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1368.8006950812999,
84
+ -123.54482586603734,
85
+ -8.531018722981408
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1370.3006950812999,
97
+ -120.94674965468403,
98
+ -8.531018722981408
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1371.8006950812999,
110
+ -118.34867344333071,
111
+ -8.531018722981408
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1373.3006950812999,
123
+ -115.7505972319774,
124
+ -8.531018722981408
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1374.8006950812999,
136
+ -113.15252102062408,
137
+ -8.531018722981408
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1376.3006950812999,
149
+ -110.55444480927076,
150
+ -8.531018722981408
151
+ ],
152
+ "type": "turn left",
153
+ "value": 30,
154
+ "yaw": 1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1376.3006950812999,
162
+ -110.55444480927076,
163
+ -8.531018722981408
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1376.3006950812999,
175
+ -107.55444480927076,
176
+ -8.531018722981408
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1376.3006950812999,
188
+ -104.55444480927076,
189
+ -8.531018722981408
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1376.3006950812999,
201
+ -101.55444480927076,
202
+ -8.531018722981408
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1376.3006950812999,
214
+ -98.55444480927076,
215
+ -8.531018722981408
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1376.3006950812999,
227
+ -95.55444480927076,
228
+ -8.531018722981408
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1376.3006950812999,
240
+ -92.55444480927076,
241
+ -8.531018722981408
242
+ ],
243
+ "type": "stop",
244
+ "value": 0,
245
+ "yaw": 1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "aim_landmark": {
250
+ "color": "test",
251
+ "feature": "test",
252
+ "position": [
253
+ 1381.41708984375,
254
+ -76.18637247085572,
255
+ 0.0
256
+ ],
257
+ "shape": "test",
258
+ "size": "test",
259
+ "type": "building"
260
+ }
261
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-42-8_1682085273/pose.jsonl ADDED
@@ -0,0 +1,313 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -293.96870052169413,
6
+ -13.938180441072781,
7
+ -1.7405900957737543
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -292.46870052169413,
19
+ -16.536256652426097,
20
+ -1.7405900957737543
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -290.96870052169413,
32
+ -19.134332863779413,
33
+ -1.7405900957737543
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -289.46870052169413,
45
+ -21.73240907513273,
46
+ -1.7405900957737543
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -287.96870052169413,
58
+ -24.330485286486045,
59
+ -1.7405900957737543
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -286.46870052169413,
71
+ -26.92856149783936,
72
+ -1.7405900957737543
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -284.96870052169413,
84
+ -29.526637709192677,
85
+ -1.7405900957737543
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -283.46870052169413,
97
+ -32.12471392054599,
98
+ -1.7405900957737543
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -281.96870052169413,
110
+ -34.72279013189931,
111
+ -1.7405900957737543
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -280.46870052169413,
123
+ -37.320866343252625,
124
+ -1.7405900957737543
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -278.96870052169413,
136
+ -39.91894255460594,
137
+ -1.7405900957737543
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -277.46870052169413,
149
+ -42.51701876595926,
150
+ -1.7405900957737543
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -275.96870052169413,
162
+ -45.11509497731257,
163
+ -1.7405900957737543
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.0471975511965979
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -274.46870052169413,
175
+ -47.71317118866589,
176
+ -1.7405900957737543
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.0471975511965979
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -272.96870052169413,
188
+ -50.311247400019205,
189
+ -1.7405900957737543
190
+ ],
191
+ "type": "turn left",
192
+ "value": 30,
193
+ "yaw": -1.0471975511965979
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -272.96870052169413,
201
+ -50.311247400019205,
202
+ -1.7405900957737543
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -0.523598775598299
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -270.3706243103408,
214
+ -51.811247400019205,
215
+ -1.7405900957737543
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -0.5235987755982988
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -267.7725480989875,
227
+ -53.311247400019205,
228
+ -1.7405900957737543
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -0.5235987755982988
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -265.1744718876342,
240
+ -54.811247400019205,
241
+ -1.7405900957737543
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -0.5235987755982988
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -262.57639567628087,
253
+ -56.311247400019205,
254
+ -1.7405900957737543
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -0.5235987755982988
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -259.97831946492755,
266
+ -57.811247400019205,
267
+ -1.7405900957737543
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -0.5235987755982988
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -257.38024325357424,
279
+ -59.311247400019205,
280
+ -1.7405900957737543
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -0.5235987755982988
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -254.78216704222092,
292
+ -60.811247400019205,
293
+ -1.7405900957737543
294
+ ],
295
+ "type": "stop",
296
+ "value": 0,
297
+ "yaw": -0.5235987755982988
298
+ }
299
+ }
300
+ {
301
+ "aim_landmark": {
302
+ "color": "test",
303
+ "feature": "test",
304
+ "position": [
305
+ -254.59913692474368,
306
+ -62.6346962928772,
307
+ 0.0
308
+ ],
309
+ "shape": "test",
310
+ "size": "test",
311
+ "type": "building"
312
+ }
313
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-49-50_1129033333/pose.jsonl ADDED
@@ -0,0 +1,287 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1423.041291642533,
6
+ 51.73791415317064,
7
+ -8.29042436900566
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1424.541291642533,
19
+ 49.139837941817326,
20
+ -8.29042436900566
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1426.041291642533,
32
+ 46.54176173046401,
33
+ -8.29042436900566
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1427.541291642533,
45
+ 43.943685519110694,
46
+ -8.29042436900566
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1429.041291642533,
58
+ 41.34560930775738,
59
+ -8.29042436900566
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1430.541291642533,
71
+ 38.74753309640406,
72
+ -8.29042436900566
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1432.041291642533,
84
+ 36.149456885050746,
85
+ -8.29042436900566
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1433.541291642533,
97
+ 33.55138067369743,
98
+ -8.29042436900566
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1435.041291642533,
110
+ 30.953304462344114,
111
+ -8.29042436900566
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1436.541291642533,
123
+ 28.3552282509908,
124
+ -8.29042436900566
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1438.041291642533,
136
+ 25.757152039637482,
137
+ -8.29042436900566
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1439.541291642533,
149
+ 23.159075828284166,
150
+ -8.29042436900566
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1441.041291642533,
162
+ 20.56099961693085,
163
+ -8.29042436900566
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.0471975511965979
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1442.541291642533,
175
+ 17.962923405577534,
176
+ -8.29042436900566
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.0471975511965979
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1444.041291642533,
188
+ 15.364847194224218,
189
+ -8.29042436900566
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.0471975511965979
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1445.541291642533,
201
+ 12.766770982870902,
202
+ -8.29042436900566
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.0471975511965979
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1447.041291642533,
214
+ 10.168694771517586,
215
+ -8.29042436900566
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.0471975511965979
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1448.541291642533,
227
+ 7.57061856016427,
228
+ -8.29042436900566
229
+ ],
230
+ "type": "turn right",
231
+ "value": 30,
232
+ "yaw": -1.0471975511965979
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1448.541291642533,
240
+ 7.57061856016427,
241
+ -8.29042436900566
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 1448.541291642533,
253
+ 4.57061856016427,
254
+ -8.29042436900566
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 1448.541291642533,
266
+ 1.5706185601642701,
267
+ -8.29042436900566
268
+ ],
269
+ "type": "stop",
270
+ "value": 0,
271
+ "yaw": -1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "aim_landmark": {
276
+ "color": "test",
277
+ "feature": "test",
278
+ "position": [
279
+ 1448.3586029052735,
280
+ -0.4004184722900391,
281
+ 0.0
282
+ ],
283
+ "shape": "test",
284
+ "size": "test",
285
+ "type": "building"
286
+ }
287
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-9-54_1359512183/pose.jsonl ADDED
@@ -0,0 +1,378 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1194.236840393042,
6
+ -230.2426924638436,
7
+ -2.380495484644994
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1197.236840393042,
19
+ -230.2426924638436,
20
+ -2.380495484644994
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1200.236840393042,
32
+ -230.2426924638436,
33
+ -2.380495484644994
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1203.236840393042,
45
+ -230.2426924638436,
46
+ -2.380495484644994
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1206.236840393042,
58
+ -230.2426924638436,
59
+ -2.380495484644994
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.0
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1209.236840393042,
71
+ -230.2426924638436,
72
+ -2.380495484644994
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.0
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1212.236840393042,
84
+ -230.2426924638436,
85
+ -2.380495484644994
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.0
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1215.236840393042,
97
+ -230.2426924638436,
98
+ -2.380495484644994
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.0
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1218.236840393042,
110
+ -230.2426924638436,
111
+ -2.380495484644994
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 0.0
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1221.236840393042,
123
+ -230.2426924638436,
124
+ -2.380495484644994
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.0
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1224.236840393042,
136
+ -230.2426924638436,
137
+ -2.380495484644994
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 0.0
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1227.236840393042,
149
+ -230.2426924638436,
150
+ -2.380495484644994
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 0.0
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1230.236840393042,
162
+ -230.2426924638436,
163
+ -2.380495484644994
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 0.0
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1233.236840393042,
175
+ -230.2426924638436,
176
+ -2.380495484644994
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 0.0
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1236.236840393042,
188
+ -230.2426924638436,
189
+ -2.380495484644994
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 0.0
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1239.236840393042,
201
+ -230.2426924638436,
202
+ -2.380495484644994
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 0.0
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1242.236840393042,
214
+ -230.2426924638436,
215
+ -2.380495484644994
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 0.0
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1245.236840393042,
227
+ -230.2426924638436,
228
+ -2.380495484644994
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 0.0
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1248.236840393042,
240
+ -230.2426924638436,
241
+ -2.380495484644994
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 0.0
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 1251.236840393042,
253
+ -230.2426924638436,
254
+ -2.380495484644994
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 0.0
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 1254.236840393042,
266
+ -230.2426924638436,
267
+ -2.380495484644994
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 0.0
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 1257.236840393042,
279
+ -230.2426924638436,
280
+ -2.380495484644994
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 0.0
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 1260.236840393042,
292
+ -230.2426924638436,
293
+ -2.380495484644994
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 0.0
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 1263.236840393042,
305
+ -230.2426924638436,
306
+ -2.380495484644994
307
+ ],
308
+ "type": "turn right",
309
+ "value": 30,
310
+ "yaw": 0.0
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 1263.236840393042,
318
+ -230.2426924638436,
319
+ -2.380495484644994
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -0.5235987755982988
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 1265.8349166043954,
331
+ -231.7426924638436,
332
+ -2.380495484644994
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": -0.5235987755982894
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ 1268.4329928157488,
344
+ -233.2426924638436,
345
+ -2.380495484644994
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": -0.5235987755982894
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ 1271.0310690271021,
357
+ -234.7426924638436,
358
+ -2.380495484644994
359
+ ],
360
+ "type": "stop",
361
+ "value": 0,
362
+ "yaw": -0.5235987755982894
363
+ }
364
+ }
365
+ {
366
+ "aim_landmark": {
367
+ "color": "test",
368
+ "feature": "test",
369
+ "position": [
370
+ 1273.901252746582,
371
+ -233.9151123046875,
372
+ 0.0
373
+ ],
374
+ "shape": "test",
375
+ "size": "test",
376
+ "type": "building"
377
+ }
378
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-0-24_1974806403/pose.jsonl ADDED
@@ -0,0 +1,261 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 338.0485396752013,
6
+ -344.00672214781827,
7
+ -6.046364594157208
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 3.141592653589793
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 335.0485396752013,
19
+ -344.00672214781827,
20
+ -6.046364594157208
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 3.141592653589793
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 332.0485396752013,
32
+ -344.00672214781827,
33
+ -6.046364594157208
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 3.141592653589793
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 329.0485396752013,
45
+ -344.00672214781827,
46
+ -6.046364594157208
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 3.141592653589793
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 326.0485396752013,
58
+ -344.00672214781827,
59
+ -6.046364594157208
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 3.141592653589793
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 323.0485396752013,
71
+ -344.00672214781827,
72
+ -6.046364594157208
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 3.141592653589793
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 320.0485396752013,
84
+ -344.00672214781827,
85
+ -6.046364594157208
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 3.141592653589793
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 317.0485396752013,
97
+ -344.00672214781827,
98
+ -6.046364594157208
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 3.141592653589793
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 314.0485396752013,
110
+ -344.00672214781827,
111
+ -6.046364594157208
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 3.141592653589793
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 311.0485396752013,
123
+ -344.00672214781827,
124
+ -6.046364594157208
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 3.141592653589793
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 308.0485396752013,
136
+ -344.00672214781827,
137
+ -6.046364594157208
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 3.141592653589793
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 305.0485396752013,
149
+ -344.00672214781827,
150
+ -6.046364594157208
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 3.141592653589793
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 302.0485396752013,
162
+ -344.00672214781827,
163
+ -6.046364594157208
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 3.141592653589793
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 299.0485396752013,
175
+ -344.00672214781827,
176
+ -6.046364594157208
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 3.141592653589793
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 296.0485396752013,
188
+ -344.00672214781827,
189
+ -6.046364594157208
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 3.141592653589793
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 293.0485396752013,
201
+ -344.00672214781827,
202
+ -6.046364594157208
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 3.141592653589793
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 290.0485396752013,
214
+ -344.00672214781827,
215
+ -6.046364594157208
216
+ ],
217
+ "type": "turn right",
218
+ "value": 30,
219
+ "yaw": 3.141592653589793
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 290.0485396752013,
227
+ -344.00672214781827,
228
+ -6.046364594157208
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 2.6179938779914944
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 287.450463463848,
240
+ -342.50672214781827,
241
+ -6.046364594157208
242
+ ],
243
+ "type": "stop",
244
+ "value": 0,
245
+ "yaw": 2.6179938779914944
246
+ }
247
+ }
248
+ {
249
+ "aim_landmark": {
250
+ "color": "test",
251
+ "feature": "test",
252
+ "position": [
253
+ 284.2394945144654,
254
+ -340.45848770141606,
255
+ 0.0
256
+ ],
257
+ "shape": "test",
258
+ "size": "test",
259
+ "type": "building"
260
+ }
261
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-16-9_1857756970/pose.jsonl ADDED
@@ -0,0 +1,365 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 159.5174680476568,
6
+ -443.3586860608754,
7
+ -1.4099086422367844
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.6179938779914944
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 156.91939183630348,
19
+ -441.8586860608754,
20
+ -1.4099086422367844
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.6179938779914944
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 154.32131562495016,
32
+ -440.3586860608754,
33
+ -1.4099086422367844
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.6179938779914944
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 151.72323941359684,
45
+ -438.8586860608754,
46
+ -1.4099086422367844
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.6179938779914944
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 149.12516320224353,
58
+ -437.3586860608754,
59
+ -1.4099086422367844
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.6179938779914944
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 146.5270869908902,
71
+ -435.8586860608754,
72
+ -1.4099086422367844
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.6179938779914944
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 143.9290107795369,
84
+ -434.3586860608754,
85
+ -1.4099086422367844
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.6179938779914944
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 141.33093456818358,
97
+ -432.8586860608754,
98
+ -1.4099086422367844
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.6179938779914944
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 138.73285835683026,
110
+ -431.3586860608754,
111
+ -1.4099086422367844
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.6179938779914944
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 136.13478214547695,
123
+ -429.8586860608754,
124
+ -1.4099086422367844
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.6179938779914944
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 133.53670593412363,
136
+ -428.3586860608754,
137
+ -1.4099086422367844
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.6179938779914944
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 130.93862972277032,
149
+ -426.8586860608754,
150
+ -1.4099086422367844
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 2.6179938779914944
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 128.340553511417,
162
+ -425.3586860608754,
163
+ -1.4099086422367844
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 2.6179938779914944
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 125.74247730006368,
175
+ -423.8586860608754,
176
+ -1.4099086422367844
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 2.6179938779914944
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 123.14440108871037,
188
+ -422.3586860608754,
189
+ -1.4099086422367844
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 2.6179938779914944
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 120.54632487735705,
201
+ -420.8586860608754,
202
+ -1.4099086422367844
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 2.6179938779914944
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 117.94824866600374,
214
+ -419.3586860608754,
215
+ -1.4099086422367844
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 2.6179938779914944
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 115.35017245465042,
227
+ -417.8586860608754,
228
+ -1.4099086422367844
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 2.6179938779914944
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 112.7520962432971,
240
+ -416.3586860608754,
241
+ -1.4099086422367844
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 2.6179938779914944
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 110.15402003194379,
253
+ -414.8586860608754,
254
+ -1.4099086422367844
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 2.6179938779914944
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 107.55594382059047,
266
+ -413.3586860608754,
267
+ -1.4099086422367844
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 2.6179938779914944
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 104.95786760923716,
279
+ -411.8586860608754,
280
+ -1.4099086422367844
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 2.6179938779914944
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 102.35979139788384,
292
+ -410.3586860608754,
293
+ -1.4099086422367844
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 2.6179938779914944
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 99.76171518653052,
305
+ -408.8586860608754,
306
+ -1.4099086422367844
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 2.6179938779914944
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 97.16363897517721,
318
+ -407.3586860608754,
319
+ -1.4099086422367844
320
+ ],
321
+ "type": "turn left",
322
+ "value": 30,
323
+ "yaw": 2.6179938779914944
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 97.16363897517721,
331
+ -407.3586860608754,
332
+ -1.4099086422367844
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 3.141592653589793
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ 94.16363897517721,
344
+ -407.3586860608754,
345
+ -1.4099086422367844
346
+ ],
347
+ "type": "stop",
348
+ "value": 0,
349
+ "yaw": 3.141592653589793
350
+ }
351
+ }
352
+ {
353
+ "aim_landmark": {
354
+ "color": "test",
355
+ "feature": "test",
356
+ "position": [
357
+ 90.3713176727295,
358
+ -405.9313674926758,
359
+ 0.0
360
+ ],
361
+ "shape": "test",
362
+ "size": "test",
363
+ "type": "building"
364
+ }
365
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-41-6_435889744/pose.jsonl ADDED
@@ -0,0 +1,365 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1501.9939342286732,
6
+ 82.13905024644649,
7
+ -9.368484573138641
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1500.4939342286732,
19
+ 79.54097403509317,
20
+ -9.368484573138641
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1498.9939342286732,
32
+ 76.94289782373986,
33
+ -9.368484573138641
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1497.4939342286732,
45
+ 74.34482161238654,
46
+ -9.368484573138641
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.0943951023931953
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1495.9939342286732,
58
+ 71.74674540103322,
59
+ -9.368484573138641
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.0943951023931953
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1494.4939342286732,
71
+ 69.14866918967991,
72
+ -9.368484573138641
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.0943951023931953
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1492.9939342286732,
84
+ 66.55059297832659,
85
+ -9.368484573138641
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.0943951023931953
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1491.4939342286732,
97
+ 63.952516766973275,
98
+ -9.368484573138641
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.0943951023931953
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1489.9939342286732,
110
+ 61.35444055561996,
111
+ -9.368484573138641
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.0943951023931953
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1488.4939342286732,
123
+ 58.75636434426664,
124
+ -9.368484573138641
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.0943951023931953
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1486.9939342286732,
136
+ 56.15828813291333,
137
+ -9.368484573138641
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.0943951023931953
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1485.4939342286732,
149
+ 53.56021192156001,
150
+ -9.368484573138641
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.0943951023931953
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1483.9939342286732,
162
+ 50.962135710206695,
163
+ -9.368484573138641
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.0943951023931953
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1482.4939342286732,
175
+ 48.36405949885338,
176
+ -9.368484573138641
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.0943951023931953
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1480.9939342286732,
188
+ 45.76598328750006,
189
+ -9.368484573138641
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.0943951023931953
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1479.4939342286732,
201
+ 43.16790707614675,
202
+ -9.368484573138641
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.0943951023931953
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1477.9939342286732,
214
+ 40.56983086479343,
215
+ -9.368484573138641
216
+ ],
217
+ "type": "turn left",
218
+ "value": 30,
219
+ "yaw": -2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1477.9939342286732,
227
+ 40.56983086479343,
228
+ -9.368484573138641
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1477.9939342286732,
240
+ 37.56983086479343,
241
+ -9.368484573138641
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 1477.9939342286732,
253
+ 34.56983086479343,
254
+ -9.368484573138641
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 1477.9939342286732,
266
+ 31.56983086479343,
267
+ -9.368484573138641
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 1477.9939342286732,
279
+ 28.56983086479343,
280
+ -9.368484573138641
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -1.5707963267948966
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 1477.9939342286732,
292
+ 25.56983086479343,
293
+ -9.368484573138641
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -1.5707963267948966
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 1477.9939342286732,
305
+ 22.56983086479343,
306
+ -9.368484573138641
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -1.5707963267948966
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 1477.9939342286732,
318
+ 19.56983086479343,
319
+ -9.368484573138641
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -1.5707963267948966
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 1477.9939342286732,
331
+ 16.56983086479343,
332
+ -9.368484573138641
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": -1.5707963267948966
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ 1477.9939342286732,
344
+ 13.569830864793431,
345
+ -9.368484573138641
346
+ ],
347
+ "type": "stop",
348
+ "value": 0,
349
+ "yaw": -1.5707963267948966
350
+ }
351
+ }
352
+ {
353
+ "aim_landmark": {
354
+ "color": "test",
355
+ "feature": "test",
356
+ "position": [
357
+ 1477.724824523926,
358
+ 10.967879819869996,
359
+ 0.0
360
+ ],
361
+ "shape": "test",
362
+ "size": "test",
363
+ "type": "building"
364
+ }
365
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-42-3_2033505236/pose.jsonl ADDED
@@ -0,0 +1,352 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 340.10007178150335,
6
+ -387.5267133104903,
7
+ -3.9838081021933416
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.6179938779914944
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 337.50199557015003,
19
+ -386.0267133104903,
20
+ -3.9838081021933416
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.6179938779914944
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 334.9039193587967,
32
+ -384.5267133104903,
33
+ -3.9838081021933416
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.6179938779914944
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 332.3058431474434,
45
+ -383.0267133104903,
46
+ -3.9838081021933416
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.6179938779914944
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 329.7077669360901,
58
+ -381.5267133104903,
59
+ -3.9838081021933416
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.6179938779914944
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 327.10969072473677,
71
+ -380.0267133104903,
72
+ -3.9838081021933416
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.6179938779914944
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 324.51161451338345,
84
+ -378.5267133104903,
85
+ -3.9838081021933416
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.6179938779914944
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 321.91353830203013,
97
+ -377.0267133104903,
98
+ -3.9838081021933416
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.6179938779914944
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 319.3154620906768,
110
+ -375.5267133104903,
111
+ -3.9838081021933416
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.6179938779914944
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 316.7173858793235,
123
+ -374.0267133104903,
124
+ -3.9838081021933416
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.6179938779914944
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 314.1193096679702,
136
+ -372.5267133104903,
137
+ -3.9838081021933416
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.6179938779914944
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 311.52123345661687,
149
+ -371.0267133104903,
150
+ -3.9838081021933416
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 2.6179938779914944
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 308.92315724526355,
162
+ -369.5267133104903,
163
+ -3.9838081021933416
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 2.6179938779914944
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 306.32508103391024,
175
+ -368.0267133104903,
176
+ -3.9838081021933416
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 2.6179938779914944
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 303.7270048225569,
188
+ -366.5267133104903,
189
+ -3.9838081021933416
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 2.6179938779914944
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 301.1289286112036,
201
+ -365.0267133104903,
202
+ -3.9838081021933416
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 2.6179938779914944
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 298.5308523998503,
214
+ -363.5267133104903,
215
+ -3.9838081021933416
216
+ ],
217
+ "type": "turn right",
218
+ "value": 30,
219
+ "yaw": 2.6179938779914944
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 298.5308523998503,
227
+ -363.5267133104903,
228
+ -3.9838081021933416
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 2.0943951023931957
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 297.0308523998503,
240
+ -360.928637099137,
241
+ -3.9838081021933416
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 295.5308523998503,
253
+ -358.3305608877837,
254
+ -3.9838081021933416
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 2.0943951023931953
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 294.0308523998503,
266
+ -355.7324846764304,
267
+ -3.9838081021933416
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 2.0943951023931953
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 292.5308523998503,
279
+ -353.13440846507706,
280
+ -3.9838081021933416
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 2.0943951023931953
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 291.0308523998503,
292
+ -350.53633225372374,
293
+ -3.9838081021933416
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 2.0943951023931953
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 289.5308523998503,
305
+ -347.9382560423704,
306
+ -3.9838081021933416
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 2.0943951023931953
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 288.0308523998503,
318
+ -345.3401798310171,
319
+ -3.9838081021933416
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 2.0943951023931953
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 286.5308523998503,
331
+ -342.7421036196638,
332
+ -3.9838081021933416
333
+ ],
334
+ "type": "stop",
335
+ "value": 0,
336
+ "yaw": 2.0943951023931953
337
+ }
338
+ }
339
+ {
340
+ "aim_landmark": {
341
+ "color": "test",
342
+ "feature": "test",
343
+ "position": [
344
+ 284.2394945144654,
345
+ -340.45848770141606,
346
+ 0.0
347
+ ],
348
+ "shape": "test",
349
+ "size": "test",
350
+ "type": "building"
351
+ }
352
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-13-49_595311776/pose.jsonl ADDED
@@ -0,0 +1,313 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 63.20971674649128,
6
+ -29.916247719303726,
7
+ -8.775370641991149
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.6179938779914944
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 60.611640535137965,
19
+ -31.416247719303726,
20
+ -8.775370641991149
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.6179938779914944
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 58.01356432378465,
32
+ -32.916247719303726,
33
+ -8.775370641991149
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.6179938779914944
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 55.41548811243133,
45
+ -34.416247719303726,
46
+ -8.775370641991149
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.6179938779914944
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 52.81741190107802,
58
+ -35.916247719303726,
59
+ -8.775370641991149
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.6179938779914944
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 50.2193356897247,
71
+ -37.416247719303726,
72
+ -8.775370641991149
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.6179938779914944
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 47.621259478371385,
84
+ -38.916247719303726,
85
+ -8.775370641991149
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.6179938779914944
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 45.02318326701807,
97
+ -40.416247719303726,
98
+ -8.775370641991149
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.6179938779914944
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 42.42510705566475,
110
+ -41.916247719303726,
111
+ -8.775370641991149
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.6179938779914944
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 39.82703084431144,
123
+ -43.416247719303726,
124
+ -8.775370641991149
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.6179938779914944
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 37.22895463295812,
136
+ -44.916247719303726,
137
+ -8.775370641991149
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.6179938779914944
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 34.630878421604805,
149
+ -46.416247719303726,
150
+ -8.775370641991149
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.6179938779914944
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 32.03280221025149,
162
+ -47.916247719303726,
163
+ -8.775370641991149
164
+ ],
165
+ "type": "turn left",
166
+ "value": 30,
167
+ "yaw": -2.6179938779914944
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 32.03280221025149,
175
+ -47.916247719303726,
176
+ -8.775370641991149
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.0943951023931957
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 30.53280221025149,
188
+ -50.51432393065704,
189
+ -8.775370641991149
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.0943951023931953
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 29.03280221025149,
201
+ -53.11240014201036,
202
+ -8.775370641991149
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.0943951023931953
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 27.53280221025149,
214
+ -55.710476353363674,
215
+ -8.775370641991149
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 26.03280221025149,
227
+ -58.30855256471699,
228
+ -8.775370641991149
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -2.0943951023931953
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 24.53280221025149,
240
+ -60.906628776070306,
241
+ -8.775370641991149
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 23.03280221025149,
253
+ -63.50470498742362,
254
+ -8.775370641991149
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -2.0943951023931953
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 21.53280221025149,
266
+ -66.10278119877694,
267
+ -8.775370641991149
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -2.0943951023931953
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 20.03280221025149,
279
+ -68.70085741013025,
280
+ -8.775370641991149
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -2.0943951023931953
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 18.53280221025149,
292
+ -71.29893362148357,
293
+ -8.775370641991149
294
+ ],
295
+ "type": "stop",
296
+ "value": 0,
297
+ "yaw": -2.0943951023931953
298
+ }
299
+ }
300
+ {
301
+ "aim_landmark": {
302
+ "color": "test",
303
+ "feature": "test",
304
+ "position": [
305
+ 17.12450046539307,
306
+ -73.06071357727052,
307
+ 0.0
308
+ ],
309
+ "shape": "test",
310
+ "size": "test",
311
+ "type": "building"
312
+ }
313
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-16-16_1289547084/pose.jsonl ADDED
@@ -0,0 +1,235 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 902.7330938548499,
6
+ -459.1749625889988,
7
+ -7.121258383573136
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 904.2330938548499,
19
+ -456.5768863776455,
20
+ -7.121258383573136
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 905.7330938548499,
32
+ -453.9788101662922,
33
+ -7.121258383573136
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 907.2330938548499,
45
+ -451.3807339549389,
46
+ -7.121258383573136
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 908.7330938548499,
58
+ -448.78265774358556,
59
+ -7.121258383573136
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 910.2330938548499,
71
+ -446.18458153223224,
72
+ -7.121258383573136
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 911.7330938548499,
84
+ -443.5865053208789,
85
+ -7.121258383573136
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 913.2330938548499,
97
+ -440.9884291095256,
98
+ -7.121258383573136
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 914.7330938548499,
110
+ -438.3903528981723,
111
+ -7.121258383573136
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 916.2330938548499,
123
+ -435.792276686819,
124
+ -7.121258383573136
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 917.7330938548499,
136
+ -433.19420047546566,
137
+ -7.121258383573136
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 919.2330938548499,
149
+ -430.59612426411235,
150
+ -7.121258383573136
151
+ ],
152
+ "type": "turn left",
153
+ "value": 30,
154
+ "yaw": 1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 919.2330938548499,
162
+ -430.59612426411235,
163
+ -7.121258383573136
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 919.2330938548499,
175
+ -427.59612426411235,
176
+ -7.121258383573136
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 919.2330938548499,
188
+ -424.59612426411235,
189
+ -7.121258383573136
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 919.2330938548499,
201
+ -421.59612426411235,
202
+ -7.121258383573136
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 919.2330938548499,
214
+ -418.59612426411235,
215
+ -7.121258383573136
216
+ ],
217
+ "type": "stop",
218
+ "value": 0,
219
+ "yaw": 1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "aim_landmark": {
224
+ "color": "test",
225
+ "feature": "test",
226
+ "position": [
227
+ 927.2414848327637,
228
+ -404.25602226257325,
229
+ 0.0
230
+ ],
231
+ "shape": "test",
232
+ "size": "test",
233
+ "type": "building"
234
+ }
235
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-18-8_452825171/pose.jsonl ADDED
@@ -0,0 +1,365 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1441.0212762029737,
6
+ 220.25488488712523,
7
+ -5.274438980044755
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1439.5212762029737,
19
+ 217.6568086757719,
20
+ -5.274438980044755
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1438.0212762029737,
32
+ 215.0587324644186,
33
+ -5.274438980044755
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1436.5212762029737,
45
+ 212.46065625306528,
46
+ -5.274438980044755
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.0943951023931953
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1435.0212762029737,
58
+ 209.86258004171196,
59
+ -5.274438980044755
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.0943951023931953
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1433.5212762029737,
71
+ 207.26450383035865,
72
+ -5.274438980044755
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.0943951023931953
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1432.0212762029737,
84
+ 204.66642761900533,
85
+ -5.274438980044755
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.0943951023931953
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1430.5212762029737,
97
+ 202.06835140765202,
98
+ -5.274438980044755
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.0943951023931953
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1429.0212762029737,
110
+ 199.4702751962987,
111
+ -5.274438980044755
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.0943951023931953
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1427.5212762029737,
123
+ 196.87219898494538,
124
+ -5.274438980044755
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.0943951023931953
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1426.0212762029737,
136
+ 194.27412277359207,
137
+ -5.274438980044755
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.0943951023931953
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1424.5212762029737,
149
+ 191.67604656223875,
150
+ -5.274438980044755
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.0943951023931953
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1423.0212762029737,
162
+ 189.07797035088544,
163
+ -5.274438980044755
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.0943951023931953
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1421.5212762029737,
175
+ 186.47989413953212,
176
+ -5.274438980044755
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.0943951023931953
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1420.0212762029737,
188
+ 183.8818179281788,
189
+ -5.274438980044755
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.0943951023931953
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1418.5212762029737,
201
+ 181.2837417168255,
202
+ -5.274438980044755
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.0943951023931953
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1417.0212762029737,
214
+ 178.68566550547217,
215
+ -5.274438980044755
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1415.5212762029737,
227
+ 176.08758929411886,
228
+ -5.274438980044755
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -2.0943951023931953
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1414.0212762029737,
240
+ 173.48951308276554,
241
+ -5.274438980044755
242
+ ],
243
+ "type": "turn left",
244
+ "value": 30,
245
+ "yaw": -2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 1414.0212762029737,
253
+ 173.48951308276554,
254
+ -5.274438980044755
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 1414.0212762029737,
266
+ 170.48951308276554,
267
+ -5.274438980044755
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 1414.0212762029737,
279
+ 167.48951308276554,
280
+ -5.274438980044755
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -1.5707963267948966
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 1414.0212762029737,
292
+ 164.48951308276554,
293
+ -5.274438980044755
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -1.5707963267948966
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 1414.0212762029737,
305
+ 161.48951308276554,
306
+ -5.274438980044755
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -1.5707963267948966
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 1414.0212762029737,
318
+ 158.48951308276554,
319
+ -5.274438980044755
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -1.5707963267948966
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 1414.0212762029737,
331
+ 155.48951308276554,
332
+ -5.274438980044755
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": -1.5707963267948966
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ 1414.0212762029737,
344
+ 152.48951308276554,
345
+ -5.274438980044755
346
+ ],
347
+ "type": "stop",
348
+ "value": 0,
349
+ "yaw": -1.5707963267948966
350
+ }
351
+ }
352
+ {
353
+ "aim_landmark": {
354
+ "color": "test",
355
+ "feature": "test",
356
+ "position": [
357
+ 1412.041893005371,
358
+ 150.22052021026613,
359
+ 0.0
360
+ ],
361
+ "shape": "test",
362
+ "size": "test",
363
+ "type": "building"
364
+ }
365
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-28-24_1785550551/pose.jsonl ADDED
@@ -0,0 +1,352 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1477.9751630195574,
6
+ -247.1872684547452,
7
+ -8.033710384717807
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1476.4751630195574,
19
+ -244.5891922433919,
20
+ -8.033710384717807
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1474.9751630195574,
32
+ -241.99111603203858,
33
+ -8.033710384717807
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1473.4751630195574,
45
+ -239.39303982068526,
46
+ -8.033710384717807
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.0943951023931953
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1471.9751630195574,
58
+ -236.79496360933194,
59
+ -8.033710384717807
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.0943951023931953
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1470.4751630195574,
71
+ -234.19688739797863,
72
+ -8.033710384717807
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.0943951023931953
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1468.9751630195574,
84
+ -231.5988111866253,
85
+ -8.033710384717807
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.0943951023931953
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1467.4751630195574,
97
+ -229.000734975272,
98
+ -8.033710384717807
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.0943951023931953
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1465.9751630195574,
110
+ -226.40265876391868,
111
+ -8.033710384717807
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.0943951023931953
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1464.4751630195574,
123
+ -223.80458255256536,
124
+ -8.033710384717807
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.0943951023931953
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1462.9751630195574,
136
+ -221.20650634121205,
137
+ -8.033710384717807
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.0943951023931953
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1461.4751630195574,
149
+ -218.60843012985873,
150
+ -8.033710384717807
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 2.0943951023931953
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1459.9751630195574,
162
+ -216.01035391850542,
163
+ -8.033710384717807
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 2.0943951023931953
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1458.4751630195574,
175
+ -213.4122777071521,
176
+ -8.033710384717807
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 2.0943951023931953
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1456.9751630195574,
188
+ -210.81420149579878,
189
+ -8.033710384717807
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 2.0943951023931953
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1455.4751630195574,
201
+ -208.21612528444547,
202
+ -8.033710384717807
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 2.0943951023931953
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1453.9751630195574,
214
+ -205.61804907309215,
215
+ -8.033710384717807
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1452.4751630195574,
227
+ -203.01997286173884,
228
+ -8.033710384717807
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 2.0943951023931953
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1450.9751630195574,
240
+ -200.42189665038552,
241
+ -8.033710384717807
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 1449.4751630195574,
253
+ -197.8238204390322,
254
+ -8.033710384717807
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 2.0943951023931953
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 1447.9751630195574,
266
+ -195.2257442276789,
267
+ -8.033710384717807
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 2.0943951023931953
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 1446.4751630195574,
279
+ -192.62766801632557,
280
+ -8.033710384717807
281
+ ],
282
+ "type": "turn left",
283
+ "value": 30,
284
+ "yaw": 2.0943951023931953
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 1446.4751630195574,
292
+ -192.62766801632557,
293
+ -8.033710384717807
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 2.617993877991494
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 1443.877086808204,
305
+ -191.12766801632557,
306
+ -8.033710384717807
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 2.6179938779915037
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 1441.2790105968506,
318
+ -189.62766801632557,
319
+ -8.033710384717807
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 2.6179938779915037
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 1438.6809343854973,
331
+ -188.12766801632557,
332
+ -8.033710384717807
333
+ ],
334
+ "type": "stop",
335
+ "value": 0,
336
+ "yaw": 2.6179938779915037
337
+ }
338
+ }
339
+ {
340
+ "aim_landmark": {
341
+ "color": "test",
342
+ "feature": "test",
343
+ "position": [
344
+ 1437.3104949951173,
345
+ -187.02000331878662,
346
+ 0.0
347
+ ],
348
+ "shape": "test",
349
+ "size": "test",
350
+ "type": "building"
351
+ }
352
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-3-7_537322532/pose.jsonl ADDED
@@ -0,0 +1,287 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 210.7104483618208,
6
+ 89.6604541093701,
7
+ -5.310893448475704
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 3.141592653589793
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 207.7104483618208,
19
+ 89.6604541093701,
20
+ -5.310893448475704
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 3.141592653589793
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 204.7104483618208,
32
+ 89.6604541093701,
33
+ -5.310893448475704
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 3.141592653589793
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 201.7104483618208,
45
+ 89.6604541093701,
46
+ -5.310893448475704
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 3.141592653589793
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 198.7104483618208,
58
+ 89.6604541093701,
59
+ -5.310893448475704
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 3.141592653589793
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 195.7104483618208,
71
+ 89.6604541093701,
72
+ -5.310893448475704
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 3.141592653589793
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 192.7104483618208,
84
+ 89.6604541093701,
85
+ -5.310893448475704
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 3.141592653589793
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 189.7104483618208,
97
+ 89.6604541093701,
98
+ -5.310893448475704
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 3.141592653589793
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 186.7104483618208,
110
+ 89.6604541093701,
111
+ -5.310893448475704
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 3.141592653589793
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 183.7104483618208,
123
+ 89.6604541093701,
124
+ -5.310893448475704
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 3.141592653589793
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 180.7104483618208,
136
+ 89.6604541093701,
137
+ -5.310893448475704
138
+ ],
139
+ "type": "turn left",
140
+ "value": 30,
141
+ "yaw": 3.141592653589793
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 180.7104483618208,
149
+ 89.6604541093701,
150
+ -5.310893448475704
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 3.665191429188092
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 178.11237215046748,
162
+ 88.1604541093701,
163
+ -5.310893448475704
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.6179938779914944
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 175.51429593911416,
175
+ 86.6604541093701,
176
+ -5.310893448475704
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.6179938779914944
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 172.91621972776085,
188
+ 85.1604541093701,
189
+ -5.310893448475704
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.6179938779914944
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 170.31814351640753,
201
+ 83.6604541093701,
202
+ -5.310893448475704
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.6179938779914944
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 167.72006730505422,
214
+ 82.1604541093701,
215
+ -5.310893448475704
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -2.6179938779914944
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 165.1219910937009,
227
+ 80.6604541093701,
228
+ -5.310893448475704
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -2.6179938779914944
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 162.52391488234758,
240
+ 79.1604541093701,
241
+ -5.310893448475704
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -2.6179938779914944
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 159.92583867099427,
253
+ 77.6604541093701,
254
+ -5.310893448475704
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -2.6179938779914944
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 157.32776245964095,
266
+ 76.1604541093701,
267
+ -5.310893448475704
268
+ ],
269
+ "type": "stop",
270
+ "value": 0,
271
+ "yaw": -2.6179938779914944
272
+ }
273
+ }
274
+ {
275
+ "aim_landmark": {
276
+ "color": "test",
277
+ "feature": "test",
278
+ "position": [
279
+ 156.30504608154297,
280
+ 75.66667518615724,
281
+ 0.0
282
+ ],
283
+ "shape": "test",
284
+ "size": "test",
285
+ "type": "building"
286
+ }
287
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-30-22_1623380595/pose.jsonl ADDED
@@ -0,0 +1,313 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 443.8165006458094,
6
+ 290.054885757253,
7
+ -3.27439398865633
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 446.8165006458094,
19
+ 290.054885757253,
20
+ -3.27439398865633
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 449.8165006458094,
32
+ 290.054885757253,
33
+ -3.27439398865633
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 452.8165006458094,
45
+ 290.054885757253,
46
+ -3.27439398865633
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 455.8165006458094,
58
+ 290.054885757253,
59
+ -3.27439398865633
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.0
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 458.8165006458094,
71
+ 290.054885757253,
72
+ -3.27439398865633
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.0
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 461.8165006458094,
84
+ 290.054885757253,
85
+ -3.27439398865633
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.0
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 464.8165006458094,
97
+ 290.054885757253,
98
+ -3.27439398865633
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.0
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 467.8165006458094,
110
+ 290.054885757253,
111
+ -3.27439398865633
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 0.0
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 470.8165006458094,
123
+ 290.054885757253,
124
+ -3.27439398865633
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.0
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 473.8165006458094,
136
+ 290.054885757253,
137
+ -3.27439398865633
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 0.0
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 476.8165006458094,
149
+ 290.054885757253,
150
+ -3.27439398865633
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 0.0
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 479.8165006458094,
162
+ 290.054885757253,
163
+ -3.27439398865633
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 0.0
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 482.8165006458094,
175
+ 290.054885757253,
176
+ -3.27439398865633
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 0.0
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 485.8165006458094,
188
+ 290.054885757253,
189
+ -3.27439398865633
190
+ ],
191
+ "type": "turn right",
192
+ "value": 30,
193
+ "yaw": 0.0
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 485.8165006458094,
201
+ 290.054885757253,
202
+ -3.27439398865633
203
+ ],
204
+ "type": "turn right",
205
+ "value": 30,
206
+ "yaw": -0.5235987755982988
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 485.8165006458094,
214
+ 290.054885757253,
215
+ -3.27439398865633
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.0471975511965976
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 487.3165006458094,
227
+ 287.45680954589966,
228
+ -3.27439398865633
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.0471975511965979
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 488.8165006458094,
240
+ 284.85873333454634,
241
+ -3.27439398865633
242
+ ],
243
+ "type": "turn left",
244
+ "value": 30,
245
+ "yaw": -1.0471975511965979
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 488.8165006458094,
253
+ 284.85873333454634,
254
+ -3.27439398865633
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -0.523598775598299
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 491.41457685716273,
266
+ 283.35873333454634,
267
+ -3.27439398865633
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -0.5235987755982988
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 494.01265306851604,
279
+ 281.85873333454634,
280
+ -3.27439398865633
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -0.5235987755982988
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 496.61072927986936,
292
+ 280.35873333454634,
293
+ -3.27439398865633
294
+ ],
295
+ "type": "stop",
296
+ "value": 0,
297
+ "yaw": -0.5235987755982988
298
+ }
299
+ }
300
+ {
301
+ "aim_landmark": {
302
+ "color": "test",
303
+ "feature": "test",
304
+ "position": [
305
+ 498.19472236633305,
306
+ 281.0884632110596,
307
+ 0.0
308
+ ],
309
+ "shape": "test",
310
+ "size": "test",
311
+ "type": "building"
312
+ }
313
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-41-32_223712350/pose.jsonl ADDED
@@ -0,0 +1,352 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 62.3439131494661,
6
+ -430.525181574739,
7
+ -5.11857911306097
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.6179938779914944
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 59.74583693811278,
19
+ -432.025181574739,
20
+ -5.11857911306097
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.6179938779914944
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 57.147760726759465,
32
+ -433.525181574739,
33
+ -5.11857911306097
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.6179938779914944
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 54.54968451540615,
45
+ -435.025181574739,
46
+ -5.11857911306097
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.6179938779914944
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 51.95160830405283,
58
+ -436.525181574739,
59
+ -5.11857911306097
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.6179938779914944
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 49.35353209269952,
71
+ -438.025181574739,
72
+ -5.11857911306097
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.6179938779914944
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 46.7554558813462,
84
+ -439.525181574739,
85
+ -5.11857911306097
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.6179938779914944
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 44.157379669992885,
97
+ -441.025181574739,
98
+ -5.11857911306097
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.6179938779914944
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 41.55930345863957,
110
+ -442.525181574739,
111
+ -5.11857911306097
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.6179938779914944
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 38.96122724728625,
123
+ -444.025181574739,
124
+ -5.11857911306097
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.6179938779914944
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 36.36315103593294,
136
+ -445.525181574739,
137
+ -5.11857911306097
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.6179938779914944
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 33.76507482457962,
149
+ -447.025181574739,
150
+ -5.11857911306097
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.6179938779914944
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 31.166998613226305,
162
+ -448.525181574739,
163
+ -5.11857911306097
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.6179938779914944
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 28.56892240187299,
175
+ -450.025181574739,
176
+ -5.11857911306097
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.6179938779914944
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 25.970846190519673,
188
+ -451.525181574739,
189
+ -5.11857911306097
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.6179938779914944
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 23.372769979166357,
201
+ -453.025181574739,
202
+ -5.11857911306097
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.6179938779914944
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 20.77469376781304,
214
+ -454.525181574739,
215
+ -5.11857911306097
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -2.6179938779914944
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 18.176617556459725,
227
+ -456.025181574739,
228
+ -5.11857911306097
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -2.6179938779914944
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 15.578541345106409,
240
+ -457.525181574739,
241
+ -5.11857911306097
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -2.6179938779914944
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 12.980465133753093,
253
+ -459.025181574739,
254
+ -5.11857911306097
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -2.6179938779914944
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 10.382388922399777,
266
+ -460.525181574739,
267
+ -5.11857911306097
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -2.6179938779914944
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 7.784312711046461,
279
+ -462.025181574739,
280
+ -5.11857911306097
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -2.6179938779914944
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 5.186236499693145,
292
+ -463.525181574739,
293
+ -5.11857911306097
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -2.6179938779914944
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 2.5881602883398287,
305
+ -465.025181574739,
306
+ -5.11857911306097
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -2.6179938779914944
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -0.009915923013487316,
318
+ -466.525181574739,
319
+ -5.11857911306097
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -2.6179938779914944
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -2.6079921343668033,
331
+ -468.025181574739,
332
+ -5.11857911306097
333
+ ],
334
+ "type": "stop",
335
+ "value": 0,
336
+ "yaw": -2.6179938779914944
337
+ }
338
+ }
339
+ {
340
+ "aim_landmark": {
341
+ "color": "test",
342
+ "feature": "test",
343
+ "position": [
344
+ -3.1689678192138673,
345
+ -469.5184967041016,
346
+ 0.0
347
+ ],
348
+ "shape": "test",
349
+ "size": "test",
350
+ "type": "building"
351
+ }
352
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-44-25_1012836610/pose.jsonl ADDED
@@ -0,0 +1,339 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 592.0872453502377,
6
+ -1.2884120084215578,
7
+ -4.01221566600805
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 595.0872453502377,
19
+ -1.2884120084215578,
20
+ -4.01221566600805
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 598.0872453502377,
32
+ -1.2884120084215578,
33
+ -4.01221566600805
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 601.0872453502377,
45
+ -1.2884120084215578,
46
+ -4.01221566600805
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 604.0872453502377,
58
+ -1.2884120084215578,
59
+ -4.01221566600805
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.0
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 607.0872453502377,
71
+ -1.2884120084215578,
72
+ -4.01221566600805
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.0
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 610.0872453502377,
84
+ -1.2884120084215578,
85
+ -4.01221566600805
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.0
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 613.0872453502377,
97
+ -1.2884120084215578,
98
+ -4.01221566600805
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.0
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 616.0872453502377,
110
+ -1.2884120084215578,
111
+ -4.01221566600805
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 0.0
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 619.0872453502377,
123
+ -1.2884120084215578,
124
+ -4.01221566600805
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.0
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 622.0872453502377,
136
+ -1.2884120084215578,
137
+ -4.01221566600805
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 0.0
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 625.0872453502377,
149
+ -1.2884120084215578,
150
+ -4.01221566600805
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 0.0
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 628.0872453502377,
162
+ -1.2884120084215578,
163
+ -4.01221566600805
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 0.0
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 631.0872453502377,
175
+ -1.2884120084215578,
176
+ -4.01221566600805
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 0.0
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 634.0872453502377,
188
+ -1.2884120084215578,
189
+ -4.01221566600805
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 0.0
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 637.0872453502377,
201
+ -1.2884120084215578,
202
+ -4.01221566600805
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 0.0
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 640.0872453502377,
214
+ -1.2884120084215578,
215
+ -4.01221566600805
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 0.0
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 643.0872453502377,
227
+ -1.2884120084215578,
228
+ -4.01221566600805
229
+ ],
230
+ "type": "turn right",
231
+ "value": 30,
232
+ "yaw": 0.0
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 643.0872453502377,
240
+ -1.2884120084215578,
241
+ -4.01221566600805
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -0.5235987755982988
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 645.6853215615911,
253
+ -2.788412008421558,
254
+ -4.01221566600805
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -0.5235987755982894
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 648.2833977729445,
266
+ -4.288412008421558,
267
+ -4.01221566600805
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -0.5235987755982894
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 650.8814739842978,
279
+ -5.788412008421558,
280
+ -4.01221566600805
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -0.5235987755982894
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 653.4795501956512,
292
+ -7.288412008421558,
293
+ -4.01221566600805
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -0.5235987755982894
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 656.0776264070046,
305
+ -8.788412008421558,
306
+ -4.01221566600805
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -0.5235987755982894
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 658.675702618358,
318
+ -10.288412008421558,
319
+ -4.01221566600805
320
+ ],
321
+ "type": "stop",
322
+ "value": 0,
323
+ "yaw": -0.5235987755982894
324
+ }
325
+ }
326
+ {
327
+ "aim_landmark": {
328
+ "color": "test",
329
+ "feature": "test",
330
+ "position": [
331
+ 661.0575393676759,
332
+ -10.88031406402588,
333
+ 0.0
334
+ ],
335
+ "shape": "test",
336
+ "size": "test",
337
+ "type": "building"
338
+ }
339
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-49-7_96055805/pose.jsonl ADDED
@@ -0,0 +1,235 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 356.3612199589646,
6
+ -199.91004503415277,
7
+ -2.7506015502646566
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 354.8612199589646,
19
+ -197.31196882279946,
20
+ -2.7506015502646566
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 353.3612199589646,
32
+ -194.71389261144614,
33
+ -2.7506015502646566
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 351.8612199589646,
45
+ -192.11581640009283,
46
+ -2.7506015502646566
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.0943951023931953
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 350.3612199589646,
58
+ -189.5177401887395,
59
+ -2.7506015502646566
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.0943951023931953
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 348.8612199589646,
71
+ -186.9196639773862,
72
+ -2.7506015502646566
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.0943951023931953
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 347.3612199589646,
84
+ -184.32158776603288,
85
+ -2.7506015502646566
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.0943951023931953
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 345.8612199589646,
97
+ -181.72351155467956,
98
+ -2.7506015502646566
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.0943951023931953
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 344.3612199589646,
110
+ -179.12543534332625,
111
+ -2.7506015502646566
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.0943951023931953
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 342.8612199589646,
123
+ -176.52735913197293,
124
+ -2.7506015502646566
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.0943951023931953
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 341.3612199589646,
136
+ -173.9292829206196,
137
+ -2.7506015502646566
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.0943951023931953
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 339.8612199589646,
149
+ -171.3312067092663,
150
+ -2.7506015502646566
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 2.0943951023931953
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 338.3612199589646,
162
+ -168.73313049791298,
163
+ -2.7506015502646566
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 2.0943951023931953
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 336.8612199589646,
175
+ -166.13505428655967,
176
+ -2.7506015502646566
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 2.0943951023931953
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 335.3612199589646,
188
+ -163.53697807520635,
189
+ -2.7506015502646566
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 2.0943951023931953
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 333.8612199589646,
201
+ -160.93890186385303,
202
+ -2.7506015502646566
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 2.0943951023931953
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 332.3612199589646,
214
+ -158.34082565249972,
215
+ -2.7506015502646566
216
+ ],
217
+ "type": "stop",
218
+ "value": 0,
219
+ "yaw": 2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "aim_landmark": {
224
+ "color": "test",
225
+ "feature": "test",
226
+ "position": [
227
+ 320.9684103012085,
228
+ -137.41820926666261,
229
+ 0.0
230
+ ],
231
+ "shape": "test",
232
+ "size": "test",
233
+ "type": "building"
234
+ }
235
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-55-39_1402492972/pose.jsonl ADDED
@@ -0,0 +1,144 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1015.8183407157828,
6
+ -403.8353699747584,
7
+ -6.125921653654986
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.6179938779915037
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1013.2202645044295,
19
+ -402.3353699747584,
20
+ -6.125921653654986
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.6179938779915037
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1010.6221882930761,
32
+ -400.8353699747584,
33
+ -6.125921653654986
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.6179938779915037
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1008.0241120817227,
45
+ -399.3353699747584,
46
+ -6.125921653654986
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.6179938779915037
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1005.4260358703693,
58
+ -397.8353699747584,
59
+ -6.125921653654986
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.6179938779915037
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1002.827959659016,
71
+ -396.3353699747584,
72
+ -6.125921653654986
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.6179938779915037
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1000.2298834476626,
84
+ -394.8353699747584,
85
+ -6.125921653654986
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.6179938779915037
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 997.6318072363092,
97
+ -393.3353699747584,
98
+ -6.125921653654986
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.6179938779915037
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 995.0337310249558,
110
+ -391.8353699747584,
111
+ -6.125921653654986
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.6179938779915037
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 992.4356548136025,
123
+ -390.3353699747584,
124
+ -6.125921653654986
125
+ ],
126
+ "type": "stop",
127
+ "value": 0,
128
+ "yaw": 2.6179938779915037
129
+ }
130
+ }
131
+ {
132
+ "aim_landmark": {
133
+ "color": "test",
134
+ "feature": "test",
135
+ "position": [
136
+ 971.7509979248048,
137
+ -378.1575077056885,
138
+ 0.0
139
+ ],
140
+ "shape": "test",
141
+ "size": "test",
142
+ "type": "building"
143
+ }
144
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-38-13_213952386/pose.jsonl ADDED
@@ -0,0 +1,339 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 48.15510234957375,
6
+ 22.885516404230145,
7
+ -4.581654280700718
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.5235987755982988
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 50.75317856092707,
19
+ 24.385516404230145,
20
+ -4.581654280700718
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.5235987755982988
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 53.351254772280384,
32
+ 25.885516404230145,
33
+ -4.581654280700718
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.5235987755982988
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 55.9493309836337,
45
+ 27.385516404230145,
46
+ -4.581654280700718
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.5235987755982988
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 58.54740719498702,
58
+ 28.885516404230145,
59
+ -4.581654280700718
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.5235987755982988
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 61.14548340634033,
71
+ 30.385516404230145,
72
+ -4.581654280700718
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.5235987755982988
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 63.74355961769365,
84
+ 31.885516404230145,
85
+ -4.581654280700718
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.5235987755982988
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 66.34163582904696,
97
+ 33.385516404230145,
98
+ -4.581654280700718
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.5235987755982988
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 68.93971204040028,
110
+ 34.885516404230145,
111
+ -4.581654280700718
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 0.5235987755982988
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 71.5377882517536,
123
+ 36.385516404230145,
124
+ -4.581654280700718
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.5235987755982988
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 74.13586446310691,
136
+ 37.885516404230145,
137
+ -4.581654280700718
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 0.5235987755982988
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 76.73394067446023,
149
+ 39.385516404230145,
150
+ -4.581654280700718
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 0.5235987755982988
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 79.33201688581354,
162
+ 40.885516404230145,
163
+ -4.581654280700718
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 0.5235987755982988
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 81.93009309716686,
175
+ 42.385516404230145,
176
+ -4.581654280700718
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 0.5235987755982988
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 84.52816930852018,
188
+ 43.885516404230145,
189
+ -4.581654280700718
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 0.5235987755982988
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 87.12624551987349,
201
+ 45.385516404230145,
202
+ -4.581654280700718
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 0.5235987755982988
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 89.72432173122681,
214
+ 46.885516404230145,
215
+ -4.581654280700718
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 0.5235987755982988
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 92.32239794258012,
227
+ 48.385516404230145,
228
+ -4.581654280700718
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 0.5235987755982988
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 94.92047415393344,
240
+ 49.885516404230145,
241
+ -4.581654280700718
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 0.5235987755982988
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 97.51855036528676,
253
+ 51.385516404230145,
254
+ -4.581654280700718
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 0.5235987755982988
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 100.11662657664007,
266
+ 52.885516404230145,
267
+ -4.581654280700718
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 0.5235987755982988
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 102.71470278799339,
279
+ 54.385516404230145,
280
+ -4.581654280700718
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 0.5235987755982988
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 105.3127789993467,
292
+ 55.885516404230145,
293
+ -4.581654280700718
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 0.5235987755982988
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 107.91085521070002,
305
+ 57.385516404230145,
306
+ -4.581654280700718
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 0.5235987755982988
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 110.50893142205334,
318
+ 58.885516404230145,
319
+ -4.581654280700718
320
+ ],
321
+ "type": "stop",
322
+ "value": 0,
323
+ "yaw": 0.5235987755982988
324
+ }
325
+ }
326
+ {
327
+ "aim_landmark": {
328
+ "color": "test",
329
+ "feature": "test",
330
+ "position": [
331
+ 112.24056682586671,
332
+ 60.22414054870606,
333
+ 0.0
334
+ ],
335
+ "shape": "test",
336
+ "size": "test",
337
+ "type": "building"
338
+ }
339
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-4-47_472131489/pose.jsonl ADDED
@@ -0,0 +1,66 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 458.0835403189104,
6
+ -241.78854081860817,
7
+ -9.822016194750159
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.5707963267948966
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 458.0835403189104,
19
+ -244.78854081860817,
20
+ -9.822016194750159
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.5707963267948966
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 458.0835403189104,
32
+ -247.78854081860817,
33
+ -9.822016194750159
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.5707963267948966
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 458.0835403189104,
45
+ -250.78854081860817,
46
+ -9.822016194750159
47
+ ],
48
+ "type": "stop",
49
+ "value": 0,
50
+ "yaw": -1.5707963267948966
51
+ }
52
+ }
53
+ {
54
+ "aim_landmark": {
55
+ "color": "test",
56
+ "feature": "test",
57
+ "position": [
58
+ 464.3743118286133,
59
+ -298.84694976806645,
60
+ 0.0
61
+ ],
62
+ "shape": "test",
63
+ "size": "test",
64
+ "type": "building"
65
+ }
66
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-59-37_1487105994/pose.jsonl ADDED
@@ -0,0 +1,339 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 164.5460734850505,
6
+ -184.9545679828032,
7
+ -8.264411843166629
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.5707963267948966
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 164.5460734850505,
19
+ -187.9545679828032,
20
+ -8.264411843166629
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.5707963267948966
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 164.5460734850505,
32
+ -190.9545679828032,
33
+ -8.264411843166629
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.5707963267948966
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 164.5460734850505,
45
+ -193.9545679828032,
46
+ -8.264411843166629
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.5707963267948966
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 164.5460734850505,
58
+ -196.9545679828032,
59
+ -8.264411843166629
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.5707963267948966
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 164.5460734850505,
71
+ -199.9545679828032,
72
+ -8.264411843166629
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.5707963267948966
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 164.5460734850505,
84
+ -202.9545679828032,
85
+ -8.264411843166629
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.5707963267948966
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 164.5460734850505,
97
+ -205.9545679828032,
98
+ -8.264411843166629
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.5707963267948966
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 164.5460734850505,
110
+ -208.9545679828032,
111
+ -8.264411843166629
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.5707963267948966
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 164.5460734850505,
123
+ -211.9545679828032,
124
+ -8.264411843166629
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.5707963267948966
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 164.5460734850505,
136
+ -214.9545679828032,
137
+ -8.264411843166629
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.5707963267948966
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 164.5460734850505,
149
+ -217.9545679828032,
150
+ -8.264411843166629
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.5707963267948966
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 164.5460734850505,
162
+ -220.9545679828032,
163
+ -8.264411843166629
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 164.5460734850505,
175
+ -223.9545679828032,
176
+ -8.264411843166629
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 164.5460734850505,
188
+ -226.9545679828032,
189
+ -8.264411843166629
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 164.5460734850505,
201
+ -229.9545679828032,
202
+ -8.264411843166629
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 164.5460734850505,
214
+ -232.9545679828032,
215
+ -8.264411843166629
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 164.5460734850505,
227
+ -235.9545679828032,
228
+ -8.264411843166629
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 164.5460734850505,
240
+ -238.9545679828032,
241
+ -8.264411843166629
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 164.5460734850505,
253
+ -241.9545679828032,
254
+ -8.264411843166629
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 164.5460734850505,
266
+ -244.9545679828032,
267
+ -8.264411843166629
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 164.5460734850505,
279
+ -247.9545679828032,
280
+ -8.264411843166629
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -1.5707963267948966
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 164.5460734850505,
292
+ -250.9545679828032,
293
+ -8.264411843166629
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -1.5707963267948966
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 164.5460734850505,
305
+ -253.9545679828032,
306
+ -8.264411843166629
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -1.5707963267948966
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 164.5460734850505,
318
+ -256.9545679828032,
319
+ -8.264411843166629
320
+ ],
321
+ "type": "stop",
322
+ "value": 0,
323
+ "yaw": -1.5707963267948966
324
+ }
325
+ }
326
+ {
327
+ "aim_landmark": {
328
+ "color": "test",
329
+ "feature": "test",
330
+ "position": [
331
+ 162.22081546783448,
332
+ -258.53322582244874,
333
+ 0.0
334
+ ],
335
+ "shape": "test",
336
+ "size": "test",
337
+ "type": "building"
338
+ }
339
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-0-45_1090099484/pose.jsonl ADDED
@@ -0,0 +1,287 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 148.53787564789627,
6
+ 136.64871152572198,
7
+ -7.557448433375689
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.6179938779914944
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 145.93979943654296,
19
+ 138.14871152572198,
20
+ -7.557448433375689
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.6179938779914944
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 143.34172322518964,
32
+ 139.64871152572198,
33
+ -7.557448433375689
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.6179938779914944
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 140.74364701383632,
45
+ 141.14871152572198,
46
+ -7.557448433375689
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.6179938779914944
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 138.145570802483,
58
+ 142.64871152572198,
59
+ -7.557448433375689
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.6179938779914944
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 135.5474945911297,
71
+ 144.14871152572198,
72
+ -7.557448433375689
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.6179938779914944
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 132.94941837977638,
84
+ 145.64871152572198,
85
+ -7.557448433375689
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.6179938779914944
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 130.35134216842306,
97
+ 147.14871152572198,
98
+ -7.557448433375689
99
+ ],
100
+ "type": "turn right",
101
+ "value": 30,
102
+ "yaw": 2.6179938779914944
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 130.35134216842306,
110
+ 147.14871152572198,
111
+ -7.557448433375689
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.0943951023931957
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 128.85134216842306,
123
+ 149.7467877370753,
124
+ -7.557448433375689
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.0943951023931953
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 127.35134216842306,
136
+ 152.3448639484286,
137
+ -7.557448433375689
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.0943951023931953
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 125.85134216842306,
149
+ 154.94294015978193,
150
+ -7.557448433375689
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 2.0943951023931953
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 124.35134216842306,
162
+ 157.54101637113524,
163
+ -7.557448433375689
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 2.0943951023931953
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 122.85134216842306,
175
+ 160.13909258248856,
176
+ -7.557448433375689
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 2.0943951023931953
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 121.35134216842306,
188
+ 162.73716879384187,
189
+ -7.557448433375689
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 2.0943951023931953
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 119.85134216842306,
201
+ 165.3352450051952,
202
+ -7.557448433375689
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 2.0943951023931953
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 118.35134216842306,
214
+ 167.9333212165485,
215
+ -7.557448433375689
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 116.85134216842306,
227
+ 170.53139742790182,
228
+ -7.557448433375689
229
+ ],
230
+ "type": "turn left",
231
+ "value": 30,
232
+ "yaw": 2.0943951023931953
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 116.85134216842306,
240
+ 170.53139742790182,
241
+ -7.557448433375689
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 2.617993877991494
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 114.25326595706974,
253
+ 172.03139742790182,
254
+ -7.557448433375689
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 2.6179938779914944
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 111.65518974571643,
266
+ 173.53139742790182,
267
+ -7.557448433375689
268
+ ],
269
+ "type": "stop",
270
+ "value": 0,
271
+ "yaw": 2.6179938779914944
272
+ }
273
+ }
274
+ {
275
+ "aim_landmark": {
276
+ "color": "test",
277
+ "feature": "test",
278
+ "position": [
279
+ 108.78504695892335,
280
+ 175.8657693862915,
281
+ 0.0
282
+ ],
283
+ "shape": "test",
284
+ "size": "test",
285
+ "type": "building"
286
+ }
287
+ }
Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-11-13_1153263590/pose.jsonl ADDED
@@ -0,0 +1,339 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 546.1877602247314,
6
+ -438.35847217249784,
7
+ -9.137065295034674
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.6179938779915037
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 543.589684013378,
19
+ -436.85847217249784,
20
+ -9.137065295034674
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.6179938779915037
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 540.9916078020246,
32
+ -435.35847217249784,
33
+ -9.137065295034674
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.6179938779915037
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 538.3935315906713,
45
+ -433.85847217249784,
46
+ -9.137065295034674
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.6179938779915037
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 535.7954553793179,
58
+ -432.35847217249784,
59
+ -9.137065295034674
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.6179938779915037
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 533.1973791679645,
71
+ -430.85847217249784,
72
+ -9.137065295034674
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.6179938779915037
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 530.5993029566112,
84
+ -429.35847217249784,
85
+ -9.137065295034674
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.6179938779915037
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 528.0012267452578,
97
+ -427.85847217249784,
98
+ -9.137065295034674
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.6179938779915037
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 525.4031505339044,
110
+ -426.35847217249784,
111
+ -9.137065295034674
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.6179938779915037
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 522.805074322551,
123
+ -424.85847217249784,
124
+ -9.137065295034674
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.6179938779915037
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 520.2069981111977,
136
+ -423.35847217249784,
137
+ -9.137065295034674
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.6179938779915037
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 517.6089218998443,
149
+ -421.85847217249784,
150
+ -9.137065295034674
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 2.6179938779915037
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 515.0108456884909,
162
+ -420.35847217249784,
163
+ -9.137065295034674
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 2.6179938779915037
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 512.4127694771375,
175
+ -418.85847217249784,
176
+ -9.137065295034674
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 2.6179938779915037
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 509.81469326578423,
188
+ -417.35847217249784,
189
+ -9.137065295034674
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 2.6179938779914944
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 507.2166170544309,
201
+ -415.85847217249784,
202
+ -9.137065295034674
203
+ ],
204
+ "type": "turn right",
205
+ "value": 30,
206
+ "yaw": 2.6179938779914944
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 507.2166170544309,
214
+ -415.85847217249784,
215
+ -9.137065295034674
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 2.0943951023931957
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 505.7166170544309,
227
+ -413.2603959611445,
228
+ -9.137065295034674
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 2.0943951023931953
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 504.2166170544309,
240
+ -410.6623197497912,
241
+ -9.137065295034674
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 502.7166170544309,
253
+ -408.0642435384379,
254
+ -9.137065295034674
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 2.0943951023931953
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 501.2166170544309,
266
+ -405.4661673270846,
267
+ -9.137065295034674
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 2.0943951023931953
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 499.7166170544309,
279
+ -402.86809111573126,
280
+ -9.137065295034674
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 2.0943951023931953
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 498.2166170544309,
292
+ -400.27001490437794,
293
+ -9.137065295034674
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 2.0943951023931953
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 496.7166170544309,
305
+ -397.67193869302463,
306
+ -9.137065295034674
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 2.0943951023931953
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 495.2166170544309,
318
+ -395.0738624816713,
319
+ -9.137065295034674
320
+ ],
321
+ "type": "stop",
322
+ "value": 0,
323
+ "yaw": 2.0943951023931953
324
+ }
325
+ }
326
+ {
327
+ "aim_landmark": {
328
+ "color": "test",
329
+ "feature": "test",
330
+ "position": [
331
+ 495.27006835937505,
332
+ -393.85822601318364,
333
+ 0.0
334
+ ],
335
+ "shape": "test",
336
+ "size": "test",
337
+ "type": "building"
338
+ }
339
+ }